Rotary machine control device

ABSTRACT

A rotary machine control device includes: a magnetization characteristics determiner that determines a magnet phase of a magnet flux based on an estimated magnetic flux and a detection current, and determines a qm-axis magnetic flux of the estimated magnetic flux, a qm-axis current of the detection current, and a harmonic component of a magnet phase using a dm-qm coordinate system with a dm axis representing the magnet phase and a qm axis representing a phase shifted by 90 degrees from the magnet phase; a ripple compensation determiner that determines a ripple compensation phase using a ripple compensation torque obtained based on the qm-axis current and the harmonic component; a command phase determiner that determines a command phase based on the ripple compensation phase and a torque command; and a command magnetic flux generator that generates a command magnetic flux based on a command amplitude and the command phase.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is based on and claims priority of JapanesePatent Application No. 2021-203816 filed on Dec. 16, 2021, JapanesePatent Application No. 2021-203968 filed on Dec. 16, 2021, and JapanesePatent Application No. 2022-085836 filed on May 26, 2022.

FIELD

The present disclosure relates to a rotary machine control device thatcontrols a rotary machine.

BACKGROUND

Conventionally, as a method for driving a synchronous rotary machine(synchronous motor), position sensorless magnetic flux control that usesdirect torque control (DTC) has been known. The position sensorlessmagnetic flux control is disclosed in, for example, Patent Literature(PTL) 1.

Also, conventionally, a torque ripple reduction method and the like havebeen known. The torque ripple reduction method is disclosed in, forexample, Non Patent Literatures (NPLs) 1 and 2.

CITATION LIST Patent Literature

PTL 1: Japanese Unexamined Patent Application Publication No.2020-178429

Non Patent Literature

-   NPL 1: Yukinori Inoue, Shigeo Morimoto, and Masayuki Sanada, “Torque    Ripple Reduction Based on Direct Torque Control for an Interior    Permanent Magnet Synchronous Motor with Harmonics”, 2006 IEE Japan    Industry Applications Society Conference, 1-4, pp. 173 - 176-   NPL 2: Yuki Terayama and Nobukazu Hoshi, “Torque Ripple Suppression    Control in PMSM Using Estimated Harmonic Component of Flux Linkage    Considering Magnetic Saturation”, IEEJ Journal of Industry    Applications, Vol. 141, No. 4, pp. 366 - 373

SUMMARY

However, the techniques disclosed in PTL 1 and NPLs 1 and 2 describedabove can be improved upon.

In view of the above, the present disclosure provides a rotary machinecontrol device capable of improving upon the above related art.

A rotary machine control device according to an aspect of the presentdisclosure includes: a magnetic flux estimator that estimates a rotarymachine magnetic flux that is a magnetic flux of a synchronous rotarymachine; a command amplitude generator that generates a commandamplitude that is an amplitude of a command magnetic flux by executingfeedback control that uses a first inner product or a second innerproduct, the first inner product being a product of an estimatedmagnetic flux that is the rotary machine magnetic flux estimated and adetection current of the synchronous rotary machine, the second innerproduct being a product of the detection current and an estimated magnetflux of a permanent magnet included in the synchronous rotary machine; amagnetization characteristics determiner that determines a magnet phasethat is a phase of the magnet flux based on the estimated magnetic fluxand the detection current, and also determines a qm-axis magnetic fluxof the estimated magnetic flux, a qm-axis current of the detectioncurrent, and a harmonic component of the magnet phase by using a dm-qmcoordinate system with a dm axis representing the magnet phase and a qmaxis representing a phase shifted by 90 degrees from the magnet phase; aripple compensation determiner that determines a ripple compensationphase by using a ripple compensation torque obtained based on theqm-axis current and the harmonic component; a command phase determinerthat determines a command magnetic flux vector phase based on (i) theripple compensation phase and (ii) a torque command or a rotation speedcommand; and a command magnetic flux generator that generates thecommand magnetic flux based on the command amplitude and the commandmagnetic flux vector phase.

A rotary machine control device according to an aspect of the presentdisclosure includes: a magnetic flux estimator that estimates a rotarymachine magnetic flux that is a magnetic flux of a synchronous rotarymachine;

a command amplitude generator that generates a command amplitude that isan amplitude of a command magnetic flux by executing feedback controlthat uses a first inner product or a second inner product, the firstinner product being a product of an estimated magnetic flux that is therotary machine magnetic flux estimated and a detection current of thesynchronous rotary machine, the second inner product being a product ofthe detection current and an estimated magnet flux of a permanent magnetincluded in the synchronous rotary machine; a magnetizationcharacteristics determiner that determines a magnet phase that is aphase of the magnet flux based on the estimated magnetic flux and thedetection current, and also determines a qm-axis magnetic flux of theestimated magnetic flux, a qm-axis current of the detection current, anda harmonic component of the magnet phase by using a dm-qm coordinatesystem with a dm axis representing the magnet phase and a qm axisrepresenting a phase shifted by 90 degrees from the magnet phase; aripple compensation determiner that determines a ripple compensationtorque based on the qm-axis current and the harmonic component; acommand phase determiner that determines a command magnetic flux vectorphase based on (i) the ripple compensation phase and (ii) a torquecommand or a rotation speed command, the ripple compensation phase beingdetermined by a resonator based on the ripple compensation torque; and acommand magnetic flux generator that generates the command magnetic fluxbased on the command amplitude and the command magnetic flux vectorphase.

A rotary machine control device according to an aspect of the presentdisclosure includes: a magnetic flux estimator that estimates a rotarymachine magnetic flux that is a magnetic flux of a synchronous rotarymachine; a command amplitude generator that generates a commandamplitude that is an amplitude of a command magnetic flux by executingfeedback control that uses a first inner product or a second innerproduct, the first inner product being a product of an estimatedmagnetic flux that is the rotary machine magnetic flux estimated and adetection current of the synchronous rotary machine, the second innerproduct being a product of the detection current and an estimated magnetflux of a permanent magnet included in the synchronous rotary machine; aripple compensation determiner that determines a magnet phase that is aphase of the magnet flux based on the estimated magnetic flux and thedetection current, and also determines a ripple compensation phase byusing a resonator based on a ripple compensation torque that includes apulsation of a qm-axis current of the detection current by using a dm-qmcoordinate system with a dm axis representing the magnet phase and a qmaxis representing a phase shifted by 90 degrees from the magnet phase; acommand phase determiner that determines a command magnetic flux vectorphase based on (i) the ripple compensation phase and (ii) a torquecommand or a rotation speed command; and a command magnetic fluxgenerator that generates the command magnetic flux based on the commandamplitude and the command magnetic flux vector phase.

The rotary machine control devices according to the aspects of thepresent disclosure are capable of improving upon the above related art.

BRIEF DESCRIPTION OF DRAWINGS

These and other advantages and features of the present disclosure willbecome apparent from the following description thereof taken inconjunction with the accompanying drawings that illustrate a specificembodiment of the present disclosure.

FIG. 1 is a block diagram of a rotary machine control device and thelike according to Embodiment 1.

FIG. 2 is a diagram illustrating a α-β coordinate system, a d-qcoordinate system, and a dm-qm coordinate system.

FIG. 3 is a block diagram of a position sensorless controller includedin the rotary machine control device shown in FIG. 1 .

FIG. 4 is a block diagram of a command amplitude generator included inthe position sensorless controller shown in FIG. 3 .

FIG. 5 is a block diagram of a magnetization characteristics determinerincluded in the position sensorless controller shown in FIG. 3 .

FIG. 6 is a block diagram of a fourier transformer included in themagnetization characteristics determiner shown in FIG. 5 .

FIG. 7 is a diagram showing a magnetic energy table generated by themagnetization characteristics determiner shown in FIG. 5 .

FIG. 8 is a block diagram of a ripple compensation determiner includedin the position sensorless controller shown in FIG. 3 .

FIG. 9 is a block diagram of a ripple torque determiner included in theripple compensation determiner shown in FIG. 8 .

FIG. 10 is a block diagram of a ripple phase determiner included in theripple compensation determiner shown in FIG. 8 .

FIG. 11 is a block diagram of a command phase determiner included in theposition sensorless controller shown in FIG. 3 .

FIG. 12 is a block diagram of a command amplitude generator included ina rotary machine control device according to Embodiment 2.

FIG. 13 is a block diagram of a magnetization characteristics determinerincluded in a rotary machine control device according to Embodiment 3.

FIG. 14 is a block diagram of another magnetization characteristicsdeterminer included in the rotary machine control device according toEmbodiment 3.

FIG. 15 is a block diagram of a position sensorless controller includedin a rotary machine control device according to Embodiment 4.

FIG. 16 is a block diagram of a command phase determiner included in theposition sensorless controller shown in FIG. 15 .

FIG. 17 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 5.

FIG. 18 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 6.

FIG. 19 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 7.

FIG. 20 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 8.

FIG. 21 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 9.

FIG. 22 is a block diagram of a rotary machine control device and thelike according to Embodiment 10.

FIG. 23 is a block diagram of a position sensorless controller includedin the rotary machine control device shown in FIG. 22 .

FIG. 24 is a block diagram of a ripple compensation determiner includedin the position sensorless controller shown in FIG. 23 .

FIG. 25 is a block diagram of a command phase determiner included in theposition sensorless controller shown in FIG. 23 .

FIG. 26 is a block diagram of a position sensorless controller includedin a rotary machine control device according to Embodiment 13.

FIG. 27 is a block diagram of a command phase determiner included in theposition sensorless controller shown in FIG. 26 .

FIG. 28 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 14.

FIG. 29 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 15.

FIG. 30 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 16.

FIG. 31 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 17.

FIG. 32 is a block diagram of a command phase determiner included in arotary machine control device according to Embodiment 18.

FIG. 33 is a block diagram of a rotary machine control device and thelike according to Embodiment 19.

FIG. 34 is a block diagram of a position sensorless controller includedin the rotary machine control device shown in FIG. 33 .

FIG. 35 is a block diagram of a ripple compensation determiner includedin the position sensorless controller shown in FIG. 34 .

FIG. 36 is a graph showing a torque waveform in a rotary machine.

DESCRIPTION OF EMBODIMENTS

Hereinafter, specific examples of rotary machine control devicesaccording to aspects of the present disclosure will be described withreference to the drawings. The embodiments described in thespecification of the present application show specific examples of thepresent disclosure. Accordingly, the numerical values, shapes,structural elements, the arrangement and connection of the structuralelements, steps, the order of the steps, and the like shown in thefollowing embodiments are merely examples, and therefore are notintended to limit the scope of the present disclosure. In addition, thediagrams are schematic representations, and thus are not necessarilytrue to scale.

General and specific aspects of the present disclosure may beimplemented using a system, a method, an integrated circuit, a computerprogram, or a computer-readable recording medium such as a CD-ROM, orany combination of systems, methods, integrated circuits, computerprograms, or computer-readable recording media.

Embodiment 1

As shown in FIG. 1 , rotary machine control device 100 includes firstcurrent sensor 102, second current sensor 104, position sensorlesscontroller 106, and duty generator 108. Rotary machine control device100 is connected to PWM (Pulse Width Modulation) inverter 300 andsynchronous rotary machine 400.

Position sensorless controller 106 performs position sensorless magneticflux control on synchronous rotary machine 400. Position sensorlesscontroller 106 is configured to execute a position sensorless magneticflux control operation for synchronous rotary machine 400. In thepresent embodiment, during a period in which the position sensorlessmagnetic flux control operation is performed, the rotation speed (thenumber of rotations) of a rotor of synchronous rotary machine 400matches the rotation speed (synchronous speed) of a rotary machinecurrent that is applied to synchronous rotary machine 400. The positionsensorless magnetic flux control operation is an operation performedwithout using an encoder and a position sensor such as a resolver. Inthe specification of the present application, for the sake ofconvenience of the description, an operation of controlling a rotarymachine magnetic flux by using the phase of an estimated rotary machinemagnetic flux will be referred to as a “magnetic flux controloperation”. The rotary machine magnetic flux conceptually includes bothan armature interlinkage magnetic flux on a three-phase AC coordinatethat is applied to synchronous rotary machine 400 and a magnetic fluxobtained by coordinate converting the armature interlinkage magneticflux. In the specification of the present application, the term“amplitude” may also simply refer to a magnitude (absolute value).

Some or all of the structural elements of rotary machine control device100 may be provided by a control application executed by a DSP (DigitalSignal Processor) or a microcomputer. The DSP or the microcomputer mayinclude a core, a memory, an A/D conversion circuit, and peripheraldevices such as a communication port. Also, some or all of thestructural elements of rotary machine control device 100 may beconfigured using a logic circuit.

Overview of Control of Rotary Machine Control Device 100

Rotary machine control device 100 generates duties D_(u), D_(v), andD_(w) from command torque T_(e)* and phase currents i_(u) and i_(w).Voltage vectors v_(u), v_(v), and v_(w) to be applied to synchronousrotary machine 400 are generated from duties D_(u), D_(v), and D_(w) byPWM inverter 300. Command torque T_(e)* is input from an upper controldevice to rotary machine control device 100. Command torque T_(e)*represents a torque to be followed by a motor torque.

Hereinafter, an overview of an operation performed by rotary machinecontrol device 100 will be described. Phase currents i_(u) and i_(w) aredetected by current sensors 102 and 104 (first current sensor 102 andsecond current sensor 104). During the operation of the positionsensorless magnetic flux control operation, command voltage vectorsv_(u)*, v_(v)*, and v_(w)* are generated from command torque T_(e)* andphase currents i_(u) and i_(w) by position sensorless controller 106.The components of command voltage vectors v_(u)*, v_(v)*, and v_(w)*correspond to a U-phase voltage, a V-phase voltage, and a W-phasevoltage on the three-phase AC coordinate, respectively. Duties D_(u),D_(v), and D_(w) are generated from command voltage vectors v_(u)*,v_(v)*, and v_(w)* by duty generator 108. Duties D_(u), D_(v), and D_(w)are input to PWM inverter 300. By performing control as described above,synchronous rotary machine 400 is controlled such that the torquefollows command torque T_(e)*.

Hereinafter, rotary machine control device 100 may be described based ona α-β coordinate system. Also, rotary machine control device 100 mayalso be described based on a d-q coordinate system. Also, rotary machinecontrol device 100 may also be described based on a dm-qm coordinatesystem. FIG. 2 shows the α-β coordinate system, the d-q coordinatesystem, and the dm-qm coordinate system. The α-β coordinate system is afixed coordinate system. The α-β coordinate system may also be called astationary coordinate system or an AC coordinate system. The α axis isset as the axis extending in the same direction as a U axis (not shownin FIG. 2 ). The U axis corresponds to U-phase winding of rotary machinecontrol device 100. The β axis is orthogonal to the α axis. The d-qcoordinate system is a rotating coordinate system. The d-q coordinatesystem is a coordinate system with the d axis representing the phase ofthe rotor of synchronous rotary machine 400 and the q axis representinga phase shifted by 90 degrees from the phase of the rotor of synchronousrotary machine 400. The dm-qm coordinate system is a rotating coordinatesystem. The dm-qm coordinate system is a coordinate system with the dmaxis representing magnet phase θ_(dm) that is the phase of magnet fluxψ_(am) that is an estimated magnetic flux of a permanent magnet includedin synchronous rotary machine 400 and the qm axis representing a phaseshifted by 90 degrees from magnet phase θ_(dm).

Position Sensorless Controller 106

Referring back to FIG. 1 , position sensorless controller 106 performsthe position sensorless magnetic flux control operation to set a commandamplitude such that the amplitude of the rotary machine magnetic fluxconverges on a target amplitude. The position sensorless magnetic fluxcontrol operation is performed by referencing command phase θ_(s)*determined from the phase (estimated phase θ_(s)) of the rotary machinemagnetic flux estimated based on magnetic flux estimator 112 (describedlater). The target amplitude is an amplitude to be finally reached bythe amplitude of the rotary machine magnetic flux. The command amplitudeis an amplitude to be followed by the amplitude of the rotary machinemagnetic flux.

As shown in FIG. 3 , position sensorless controller 106 includes u, w/a,β converter 110, magnetic flux estimator 112, phase determiner 114,torque estimator 116, command amplitude generator 118, magnetizationcharacteristics determiner 120, ripple compensation determiner 122,command phase determiner 124, command magnetic flux generator 126,voltage command generator 128, and α, β/u, v, w converter 130.

In position sensorless controller 106, phase currents i_(u) and i_(w)are converted to axis currents i_(α) and i_(β) by u, w/a, β converter110. The expression “axis currents i_(α) and i_(β)” is a collectiveexpression for α-axis current i_(α) and β-axis current i_(β) on the α-βcoordinate system of synchronous rotary machine 400. The rotary machinemagnetic flux is estimated (estimated magnetic flux ψ_(s) is determined)by magnetic flux estimator 112. The α-axis component and the β-axiscomponent of estimated magnetic flux ψ_(s) will be referred to as“estimated magnetic flux ψ_(α)” and “estimated magnetic flux ψ_(β)”,respectively. The phase of the rotary machine magnetic flux is estimated(estimated phase θ_(s) of estimated magnetic flux ψ_(s) is determined)from estimated magnetic flux ψ_(s) by phase determiner 114. The motortorque is estimated (estimated torque T_(e) is determined) fromestimated magnetic flux ψ_(s) and axis currents i_(α) and i_(β) bytorque estimator 116. Command amplitude |ψ_(s)*| is generated fromestimated magnetic flux ψ_(s) and axis currents i_(α) and i_(β) bycommand amplitude generator 118. Here, qm-axis current i_(qm) andharmonic component nθ_(dm) of magnet phase θ_(dm) are determined fromestimated magnetic flux ψ_(s) and axis currents i_(α) and i_(β) bymagnetization characteristics determiner 120. Ripple compensation phaseθ_(ripple) is determined from qm-axis current i_(qm) and harmoniccomponent nθ_(dm) by ripple compensation determiner 122. Command phase(command magnetic flux vector phase) θ_(s)* of command magnetic fluxvector ψ_(s)* is determined from estimated phase θ_(s) of estimatedmagnetic flux ψ_(s), command torque T_(e)*, estimated torque T_(e), andripple compensation phase θ_(ripple) by command phase determiner 124.Command magnetic flux vector ψ_(s)* is determined from command amplitude|ψ_(s)*| and command phase θ_(s)* by command magnetic flux generator126. The α-axis component and the β-axis component of command magneticflux vector ψ_(s)* will be referred to as “a-axis command magnetic fluxψ_(α)*” and “β-axis command magnetic flux ψ_(β)*”, respectively. Commandaxis voltages v_(α)* and v_(β)* are determined from command magneticfluxes ψ_(α)* and ψ_(β)*, estimated magnetic fluxes ψ_(α) and ψ_(β), andaxis currents i_(α) and i_(β) by voltage command generator 128. Theexpression “command axis voltages v_(α)* and vp*” is a collectiveexpression for α-axis command axis voltage v_(α)* and β-axis commandaxis voltage v_(β)* on the α-β coordinate system of synchronous rotarymachine 400. Command axis voltages v_(α)* and v_(β)* are converted tocommand voltage vectors v_(u)*, v_(v)*, and v_(w)* by α, β/u, v, wconverter 130.

In the position sensorless magnetic flux control operation, byperforming control as described above, the motor torque follows commandtorque T_(e)*, and the rotary machine magnetic flux follows commandmagnetic flux vector ψ_(s)*. As a result, the speed of synchronousrotary machine 400 follows command speed ω_(ref)*. In the case where theexpression “position sensorless controller 106 performs the positionsensorless magnetic flux control operation to set a command amplitudesuch that the amplitude of the rotary machine magnetic flux converges ona target amplitude” described above is used, the target amplitudecorresponds to command amplitude | ψ_(s)*|. By taking this intoconsideration, in the following description, command amplitude |ψ_(s)*|may also be referred to as “target amplitude |ψ_(s)*|”.

In the specification of the present application, axis currents i_(α) andi_(β) mean current values that are transmitted as information, ratherthan electric currents that actually flow through synchronous rotarymachine 400. Command axis voltages v_(α)* and v_(β)*, estimated magneticflux ψ_(s), estimated phase θ_(s), command phase θ_(s)*, estimatedtorque T_(e), command torque T_(e)*, command amplitude |ψ_(s)*| (targetamplitude | ψ_(s)*|), command magnetic flux vector ψ_(s)*, commandvoltage vectors v_(u)*, v_(v)*, and v_(w)*, command speed ω_(ref)*,magnet phase θ_(dm), harmonic component nθ_(dm), qm-axis current i_(qm),and the like also mean values that are transmitted as information.

The structural elements of position sensorless controller 106 shown inFIG. 3 will be described below.

U, W/a, Β Converter 110

u, w/a, β converter 110 converts phase currents i_(u) and i_(w) to axiscurrents i_(α) and ip. Specifically, u, w/a, β converter 110 convertsphase currents i_(u) and i_(w) to axis currents i_(α) and i_(β) by usingEquation (1) and Equation (2), and outputs axis currents i_(α) andi_(α).

$\text{i}_{\alpha} = \sqrt{\frac{3}{2}}\mspace{6mu}\text{i}_{\text{u}}$

$\text{i}_{\beta} = - \frac{1}{\sqrt{2}}\mspace{6mu}\text{i}_{\text{u}} - \sqrt{2}\text{i}_{\text{w}}$

Magnetic Flux Estimator 112

Magnetic flux estimator 112 estimates the rotary machine magnetic fluxthat is the magnetic flux of synchronous rotary machine 400, and outputsestimated magnetic flux ψ_(s) (estimated magnetic fluxes ψ_(α) andψ_(β)) that is the estimated rotary machine magnetic flux. During theoperation of the position sensorless magnetic flux control operation,magnetic flux estimator 112 determines estimated magnetic flux ψ_(s)from axis currents i_(α) and i_(β) and command axis voltages v_(α)* andv_(β)*. Specifically, magnetic flux estimator 112 determines estimatedmagnetic fluxes ψ_(α) and ψ_(β) by using Equation (3) and Equation (4).In Equation (3) and Equation (4), ψ_(α)|_(t=0) and ψ_(β)|_(t=0) areinitial values of estimated magnetic fluxes ψ_(α) and ψ_(β),respectively. In Equation (3) and Equation (4), R represents the windingresistance of the winding resistance of synchronous rotary machine 400.In the case where magnetic flux estimator 112 is included in a digitalcontrol device such as a DSP or a microcomputer, a discrete integratormay be used as the integrator required to perform computation inEquation (3) and Equation (4). In this case, a value derived from thecurrent control cycle may be added or subtracted with respect toestimated magnetic fluxes ψ_(α) and ψ_(β) of the previous control cycle.

Ψ_(α) = ∫(v_(α)^(*) − Ri_(α)) dt +Ψ_(α|t=0))

Ψ_(β) = ∫(v_(β)^(*) − Ri_(β)) dt +Ψ_(β|t=0))

Phase Determiner 114

Phase determiner 114 determines estimated phase θ_(s) that is the phaseof estimated magnetic flux ψ_(s) based on estimated magnetic flux ψ_(s)(estimated magnetic fluxes ψ_(α) and ψ_(β)). In the present embodiment,phase determiner 114 determines estimated phase θ_(s) from estimatedmagnetic flux ψ_(s). Specifically, phase determiner 114 determinesestimated phase θ_(s) from estimated magnetic flux ψ_(s) by usingEquation (5). For example, phase determiner 114 is a known phaseestimator device.

$\text{θ}_{\text{s}} = \tan^{- 1}\left( \frac{\text{Ψ}_{\text{β}}}{\text{Ψ}_{\text{α}}} \right)$

Torque Estimator 116

Torque estimator 116 computes estimated torque T_(e) based on estimatedmagnetic flux ψ_(s) (estimated magnetic fluxes ψ_(α) and ψ_(β)) anddetection current i. In the present embodiment, detection current imeans axis currents i_(α) and i_(β), and torque estimator 116 determinesestimated torque T_(e) from estimated magnetic flux ψ_(s) and axiscurrents i_(α) and ip. Specifically, torque estimator 116 determinesestimated torque T_(e) from estimated magnetic flux ψ_(s) and axiscurrents i_(α) and i_(β) by using Equation (6). In Equation (6), Prepresents the number of pole pairs of synchronous rotary machine 400.

T_(e) = P(Ψ_(α)i_(β) − Ψ_(β)i_(α))

Command Amplitude Generator 118

Command amplitude generator 118 generates command amplitude | ψ_(s)*|that is the amplitude of command magnetic flux by executing feedbackcontrol that uses a first inner product or a second inner product, thefirst inner product being a product of estimated magnetic flux ψ_(s)(estimated magnetic fluxes ψ_(α) and ψ_(β)) that is the estimated rotarymachine magnetic flux and detection current i of synchronous rotarymachine 400, the second inner product being a product of detectioncurrent i and estimated magnet flux ψ_(am) of the permanent magnetincluded in synchronous rotary machine 400. As shown in FIG. 4 , in thepresent embodiment, command amplitude generator 118 generates commandamplitude |ψ_(s)*| by executing feedback control that uses the secondinner product.

Command amplitude generator 118 computes error variable ε that indicatesa reactive power component by using virtual inductance (the inductanceof synchronous rotary machine 400) L_(qm), axis currents i_(α) andi_(β), and estimated magnetic flux ψ_(s) (estimated magnetic fluxesψ_(α) and ψ_(β)). Specifically, first, command amplitude generator 118estimates an armature reaction magnetic flux (determines estimatedarmature reaction magnetic flux L_(qm)i). The α-axis component and theβ-axis component of estimated armature reaction magnetic flux L_(qm)iwill be referred to as “estimated armature reaction magnetic fluxL_(qm)i_(α)” and “estimated armature reaction magnetic fluxL_(qm)i_(β)”, respectively. Estimated armature reaction magnetic fluxL_(qm)i_(α) is a product of virtual inductance L_(qm) and axis currenti_(α), and estimated armature reaction magnetic flux L_(qm)i_(β) is aproduct of virtual inductance L_(qm) and axis current i_(β). Next,command amplitude generator 118 determines estimated magnet flux ψ_(am)of the permanent magnet of synchronous rotary machine 400 from estimatedmagnetic flux ψ_(s) (estimated magnetic fluxes ψ_(α) and ψ_(β)) andestimated armature reaction magnetic flux L_(qm)i (estimated armaturereaction magnetic fluxes L_(qm)i_(α) and L_(qm)i_(β)). The α-axiscomponent and the β-axis component of magnet flux ψ_(am) will bereferred to as “estimated magnet flux ψ_(amα)” and “estimated magnetflux ψ_(am) _(β)”, respectively. Specifically, as shown in Equation (7),command amplitude generator 118 determines magnet flux ψ_(amα) bysubtracting estimated armature reaction magnetic flux L_(qm)i_(α) fromestimated magnetic flux ψ_(α). Also, as shown in Equation (8), commandamplitude generator 118 determines magnet flux ψ_(amβ) by subtractingestimated armature reaction magnetic flux L_(qm)i_(β) from estimatedmagnetic flux ψ_(β). Next, command amplitude generator 118 calculateserror variable ε from magnet fluxes ψ_(amα) and ψ_(amβ) and axiscurrents i_(α) and i_(β) as shown in Equation (9).

Ψ_(amα) = Ψ_(α) − L_(qm)i_(α)

Ψ_(amβ) = Ψ_(β) − L_(qm)i_(β)

ε  = P(Ψ_(amα)i_(α)+Ψ_(amβ)i_(β))

As shown in Equation (9) and FIG. 4 , command amplitude generator 118computes, as error variable ε, an inner product (second inner product)of estimated magnet flux ψ_(am) of the permanent magnet of synchronousrotary machine 400 and detection current i of synchronous rotary machine400.

Error variable ε may also be determined by computing an inner product(first inner product) of estimated magnetic flux ψ_(am) of synchronousrotary machine 400 and detection current i of synchronous rotary machine400.

Accordingly, as shown in Equation (10), command amplitude generator 118may be configured to compute, as error variable ε, an inner product(first inner product) of estimated magnetic flux ψ_(s) of synchronousrotary machine 400 and detection current i of synchronous rotary machine400, instead of the second inner product.

ε  = Ψ_(α)i_(α)+Ψ_(β)i_(β) − L_(qm)(i_(α)² + i_(β)²)

As shown in FIG. 4 , command amplitude generator 118 includes subtracter132, P gain 134, I gain 136, integrator 138, adder 140, and adder 142.Command amplitude generator 118 sets the target value of error variableε, or in other words, target value ε* of the result of computation ofthe first inner product or the second inner product. Here, commandamplitude generator 118 sets target value ε* of the result ofcomputation of the first inner product or the second inner to zero.Adder 142 generates command amplitude |ψ_(s)*| by adding absolute value|Δψ| of calculated magnetic flux deviation Δψ and ψ_(a_nominal) that isa nominal value of estimated magnetic flux ψ_(am).

In the manner as described above, command amplitude generator 118generates command amplitude |ψ_(s)*| by executing feedback control thatuses error variable ε.

Magnetization Characteristics Determiner 120

As shown in FIG. 5 , magnetization characteristics determiner 120determines magnet phase θ_(dm) that is the phase of magnet flux ψ_(am)(see FIG. 2 ) based on estimated magnetic flux ψ_(s) and detectioncurrent i, and also determines qm-axis magnetic flux ψ_(qm) of estimatedmagnetic flux ψ_(s), qm-axis current i_(qm) of detection current i, andharmonic component nθ_(dm) of magnet phase θ_(dm) by using a dm-qmcoordinate system with the dm-axis representing magnet phase θ_(dm) andthe qm axis representing a phase shifted by 90 degrees from magnet phaseθ_(dm). Qm-axis magnetic flux ψ_(qm) is the qm-axis component ofestimated magnetic flux ψ_(s), and qm-axis current i_(qm) is the qm-axiscomponent of detection current i.

Magnetization characteristics determiner 120 includes magnet fluxdeterminer 144, magnet phase determiner 146, α, β/qm converter 148, α,β/qm converter 150, harmonic component determiner 152, fouriertransformer 154, and magnetic energy determiner 156.

Magnet flux determiner 144 determines magnet flux ψ_(am) based onvirtual inductance (the inductance of synchronous rotary machine 400)L_(qm), axis currents i_(α) and i_(β), and estimated magnetic flux ψ_(s)(estimated magnetic fluxes ψ_(α) and ψ_(β)). Specifically, magnet fluxdeterminer 144 determines magnet flux ψ_(amα) by using Equation (11),and determines magnet flux ψ_(amβ) by using Equation (12). As shown inFIG. 2 , magnet flux ψ_(amα) is the α-axis component of magnet fluxψ_(am), and magnet flux ψ_(amβ) is the β-axis component of magnet fluxψ_(am).

Ψ_(amα) = Ψ_(α) − L_(qm)i_(α)

Ψ_(amβ)=Ψ_(β)-L_(qm)i_(β)

Magnet phase determiner 146 determines magnet phase θ_(dm) from magnetflux ψ_(amα) and magnet flux ψ_(amβ) by using Equation (13).

$\text{θ}_{\text{dm}} = \tan^{- 1}\left( \frac{\text{Ψ}_{\text{am}\text{β}}}{\text{Ψ}_{\text{am}\text{α}}} \right)$

α, β/qm converter 148 converts axis currents i_(α) and i_(β) to qm-axiscurrent i_(qm). Specifically, α, β/qm converter 148 converts axiscurrents i_(α) and i_(β) to qm-axis current i_(qm) by using Equation(14), and outputs qm-axis current i_(qm).

i_(qm) = −i_(α)sin θ_(dm) + i_(β)cos θ_(dm)

α, β/qm converter 150 converts estimated magnetic flux ψ_(s) (estimatedmagnetic fluxes ψ_(α) and ψ_(β)) to qm-axis magnetic flux ψ_(qm).Specifically, α, β/qm converter 150 converts estimated magnetic fluxψ_(s) (estimated magnetic fluxes ψ_(α) and ψ_(β)) to qm-axis magneticflux ψ_(qm) by using Equation (15), and outputs qm-axis magnetic fluxψ_(qm).

Ψ_(qm) = −Ψ_(α)sin θ_(dm) + Ψ_(β)cos θ_(dm)

Harmonic component determiner 152 determines harmonic component nθ_(dm)of magnet phase θ_(dm). Specifically, harmonic component determiner 152determines harmonic component nθ_(dm) by multiplying magnet phase θ_(dm)by order n, and outputs harmonic component nθ_(dm).

Fourier transformer 154 determines magnetic flux ψ_(qmcn) and magneticflux ψ_(qmsn) from qm-axis magnetic flux ψ_(qm) and harmonic componentnθ_(dm).

As shown in FIG. 6 , fourier transformer 154 includes amplifier 158,multiplier 160, low-pass filter 162, multiplier 164, and low-pass filter166.

Amplifier 158 amplifies qm-axis magnetic flux ψ_(qm) by 2-fold.

Multiplier 160 multiplies qm-axis magnetic flux ψ_(qm) amplified by2-fold by cosnθ_(dm).

Low-pass filter 162 outputs magnetic flux ψ_(qmcn) from qm-axis magneticflux ψ_(qm) amplified by 2-fold and multiplied by cosnθ_(dm).

Multiplier 164 multiplies qm-axis magnetic flux ψ_(qm) amplified by2-fold by sinn θ_(dm).

Low-pass filter 166 outputs magnetic flux ψ_(qmsn) from qm-axis magneticflux ψ_(qm) amplified by 2-fold and multiplied by sinn θ_(dm).

Referring back to FIG. 5 , magnetic energy determiner 156 determinesmagnetic energy W′_(qmcn) from magnetic flux ψ_(qmcn) by using Equation(16), and determines magnetic energy W′_(qmsn) from magnetic fluxψ_(qmsn) by using Equation (17).

W^(′)_(qmcn) = ∫₀^(i_(qm))Ψ_(qmcn)(0, i^(′)_(qm))di^(′)_(qm)

W^(′)_(qmsn) = ∫₀^(i_(qm))Ψ_(qmsn)(0, i^(′)_(qm))di^(′)_(qm)

Magnetic energy determiner 156 creates magnetic energy table 168 asshown in FIG. 7 by using the obtained results. (a) in FIG. 7 shows atable showing the values of magnetic energy W′_(qmcn) that correspond tothe values of qm-axis current i_(qm). (b) in FIG. 7 shows a tableshowing the values of magnetic energy W′_(qmsn) that correspond to thevalues of qm-axis current i_(qm).

Ripple Compensation Determiner 122

As shown in FIG. 8 , ripple compensation determiner 122 determinesripple compensation phase θ_(ripple) by using ripple compensation torqueT_(ripple) obtained based on qm-axis current i_(qm) and harmoniccomponent nθ_(dm). Ripple compensation determiner 122 includes magneticenergy table 168, ripple torque determiner 170, and ripple phasedeterminer 172.

Ripple compensation determiner 122 determines magnetic energy W′_(qmcn)and magnetic energy W′_(qmsn) by using qm-axis current i_(qm) outputfrom α, β/qm converter 148 and magnetic energy table 168 created bymagnetic energy determiner 156. Specifically, ripple compensationdeterminer 122 selects, from magnetic energy table 168, a value ofmagnetic energy W′_(qmcn) that corresponds to the value of qm-axiscurrent i_(qm) output from α, β/qm converter 148, and outputs theselected value. Also, ripple compensation determiner 122 selects, frommagnetic energy table 168, a value of magnetic energy W′_(qmsn) thatcorresponds to the value of qm-axis current i_(qm) output from α, β/qmconverter 148, and outputs the selected value.

As shown in FIG. 9 , ripple torque determiner 170 includes adder 174,multiplier 176, multiplier 178, subtracter 180, and multiplier 182.

Adder 174 adds harmonic component nθ_(dm) of magnet phase θ_(dm) andadjustment phase Δθ. For example, adjustment phase Δθ is input from theoutside.

Multiplier 176 multiplies W′_(qmsn) by cos(nθ_(dm)+Δθ) Multiplier 178multiplies W′_(qmcn) by sin(nθ_(dm)+Δθ).

Subtracter 180 subtracts W′_(qmcn)sin(nθ_(dm)+Δθ) fromW′_(qmsn)cos(nθ_(dm)+Δθ).

Multiplier 182 determines ripple compensation torque T_(ripple) by usingEquation (18), where n represents order, and P represents the number ofpole pairs of synchronous rotary machine 400.

T_(ripple) = nP{W^(′)_(qmsn)cos (nθ_(dm) + Δθ) − W^(′)_(qmcn)sin (nθ_(dm) + Δθ)}

(18)

As shown in FIG. 10 , ripple phase determiner 172 includes multiplier184.

Multiplier 184 determines ripple compensation phase θ_(ripple) by usingripple compensation torque T_(ripple) and adjustment gain K_(ripple)based on Equation (19). Adjustment gain K_(ripple) is a known constant.Also, T_(s) represents a motor time constant, and T_(s)s represents adifferential operator.

θ_(ripple) = T_(ripple)K_(ripple)(τ_(s)s + 1)

Command Phase Determiner 124

Referring back to FIG. 3 , command phase determiner 124 determines thecommand magnetic flux vector phase based on ripple compensation phaseθ_(ripple) and a torque command or a rotation speed command. Here, anexample will be described in which the command magnetic flux vectorphase is determined based on the torque command. The command magneticflux vector phase is command phase θ_(s)*. That is, in the presentembodiment, as shown in FIG. 2 , command phase θ_(s)* is the phase ofcommand magnetic flux vector ψ_(s)*. In the present embodiment, commandphase determiner 124 determines command phase θ_(s)* by adding torquephase Δθ_(S) for converging estimated torque T_(e) on command torqueT_(e)*, ripple compensation phase θ_(ripple), and estimated phase θ_(S).That is, command phase determiner 124 determines command phase θ_(s)* byusing torque phase Δθ_(S), ripple compensation phase θ_(ripple), andestimated phase θ_(S).

As shown in FIG. 11 , command phase determiner 124 includes subtracter186, PI compensator 188, adder 190, and adder 192.

Subtracter 186 determines a deviation by subtracting estimated torqueT_(e) from command torque T_(e)*.

PI compensator 188 determines torque phase Δθ_(S) by performingproportional-integral control for converging the deviation determined bysubtracter 186 on 0.

Adder 190 adds torque phase Δθ_(S) and ripple compensation phaseθ_(ripple).

Adder 192 determines command phase θ_(s)* by further adding estimatedphase θ_(s) to torque phase Δθ_(S) and ripple compensation phaseθ_(ripple).

Command Magnetic Flux Generator 126

Referring back to FIG. 3 , command magnetic flux generator 126 generatescommand magnetic fluxes ω_(α)* and ψ_(β)* based on command amplitude|ψ_(s)*| and command phase θ_(s)*. In the present embodiment, commandmagnetic flux generator 126 determines command magnetic flux vectorψ_(s)* (command magnetic fluxes ψ_(α)* and ψ_(β)*) based on commandamplitude | ψ_(s)*| and command phase θ_(s)*. In the present embodiment,command magnetic flux generator 126 determines command magnetic fluxvector ψ_(s)* (command magnetic fluxes ψ_(α)* and ψ_(β)*) from commandamplitude | ψ_(s)*| and command phase θ_(s)*. Specifically, commandmagnetic flux generator 126 determines command magnetic fluxes ψ_(α)*and ψ_(β)* by using Equations (20) and (21).

Ψ_(α)^(*) = |Ψ_(s)^(*)|cos θ_(s)^(*)

Ψ_(β)^(*) = |Ψ_(s)^(*)|sin θ_(s)^(*)

Voltage Command Generator 128

Voltage command generator 128 determines command axis voltages v_(α)*and v_(β)* by using estimated magnetic flux ψ_(s) (estimated magneticfluxes ψ_(α) and ψ_(β)), axis currents i_(α) and i_(β), and commandmagnetic flux vector ψ_(s)* (command magnetic fluxes ψ_(α)* and ψ_(β)*).First, voltage command generator 128 subtracts estimated magnetic fluxψ_(α) from command magnetic flux ψ_(α)* to determine a deviation betweenestimated magnetic flux ψ_(α) and command magnetic flux ψ_(α)* (magneticflux deviation Δψ_(α): ψ_(α)*-ψ_(α)). Also, voltage command generator128 subtracts estimated magnetic flux ψ_(β) from command magnetic fluxψ_(β)* to determine a deviation between estimated magnetic flux ψ_(β)and command magnetic flux ψ_(β)* (magnetic flux deviation Δψ_(β):ψ_(β)*-ψ_(β)). Then, voltage command generator 128 determines commandaxis voltages v_(α)* and v_(β)* by using magnetic flux deviations Δψ_(α)and Δψ_(β) and axis currents i_(α) and i_(β). Specifically, voltagecommand generator 128 determines α-axis command axis voltage v_(α)* byusing magnetic flux deviation Δψ_(α) and axis current i_(α) based onEquation (22). Also, voltage command generator 128 determines β-axiscommand axis voltage v_(β)* by using magnetic flux deviation Δψ_(β) andaxis current i_(β) based on Equation (23). Here, T_(s) represents acontrol cycle.

$\text{v}_{\text{α}}{}^{*} = \frac{\text{Δ}\text{Ψ}_{\text{α}}}{\text{T}_{\text{S}}} + \text{Ri}_{\text{α}}$

$\text{v}_{\text{β}}{}^{*} = \frac{\text{Δ}\text{Ψ}_{\text{β}}}{\text{T}_{\text{S}}} + \text{Ri}_{\text{β}}$

α, β/U, V, W Converter 130

α, β/u, v, w converter 130 converts command axis voltages v_(α)* andv_(β)* to command voltage vectors v_(u)*, v_(v)*, and v_(w)*.Specifically, α, β/u, v, w converter 130 converts command axis voltagesv_(α)* and v_(β)* to command voltage vectors v_(u)*, v_(v)*, and v_(w)*by using Equation (24), and outputs command voltage vectors v_(u)*,v_(v)*, and v_(w)*.

$\left\lbrack \begin{array}{l}{\text{v}_{\text{u}}{}^{*}} \\{\text{v}_{\text{v}}{}^{*}} \\{\text{v}_{\text{w}}{}^{*}}\end{array} \right\rbrack = \left\lbrack \begin{array}{ll}\sqrt{\frac{2}{3}} & 0 \\{- \sqrt{\frac{1}{6}}} & \sqrt{\frac{1}{2}} \\{- \sqrt{\frac{1}{6}}} & {- \sqrt{\frac{1}{2}}}\end{array} \right\rbrack\left\lbrack \begin{array}{l}{\text{v}_{\text{α}}{}^{*}} \\{\text{v}_{\text{β}}{}^{*}}\end{array} \right\rbrack$

Referring back to FIG. 1 , the remaining structural elements of rotarymachine control device 100 and structural elements that are connected torotary machine control device 100 will be described below.

First Current Sensor 102 and Second Current Sensor 104

As first current sensor 102 and second current sensor 104, known sensorscan be used. In the present embodiment, first current sensor 102 isprovided to measure phase current i_(u) that flows through a u phase.Second current sensor 104 is provided to measure phase current i_(w)that flows through a w phase. However, first current sensor 102 andsecond current sensor 104 may be provided to measure electric currentsof two phases other than the combination of the u phase and the w phase.

Duty Generator 108

Duty generator 108 generates duties D_(u), D_(v), and D_(w) from commandvoltage vectors v_(u)*, v_(v)*, and v_(w)*. In the present embodiment,duty generator 108 converts the components of command voltage vectorsv_(u)*, v_(v)*, and v_(w)* to duties D_(u), D_(v), and D_(w) of threephases. As the method for generating duties D_(u), D_(v), and D_(w), anordinary method that is used for a voltage PWM inverter may be used. Forexample, duties D_(u), D_(v), and D_(w) may be determined by dividingcommand voltage vectors v_(u)*, v_(v)*, and v_(w)* by a half value ofvoltage value V_(dc) of a DC power supply of PWM inverter 300, whichwill be described later. In this case, duty D_(u) is 2 x _(Vu)*/V_(dc).Duty D_(v) is 2 x v_(v)*/V_(dc). Duty D_(w) is 2 x v_(w)*/V_(dc). Dutygenerator 108 outputs duties D_(u), D_(v), and D_(w).

PWM Inverter 300

PWM inverter 300 includes a DC power supply and a conversion circuit.The conversion circuit converts DC voltage to voltage vectors v_(u),v_(v), and v_(w) through PWM control. PWM inverter 300 applies voltagevectors v_(u), v_(v), and v_(w) obtained as a result of the conversionto synchronous rotary machine 400.

Synchronous Rotary Machine 400

Synchronous rotary machine 400 is a target to be controlled by rotarymachine control device 100. The voltage vectors are applied tosynchronous rotary machine 400 by PWM inverter 300. As used herein, theexpression “the voltage vectors are applied to synchronous rotarymachine 400” means that voltage is applied to each of three phases (a Uphase, a V phase, and a W phase) on a three-phase AC coordinate systemthat is applied to synchronous rotary machine 400. In the presentembodiment, synchronous rotary machine 400 is controlled such that eachof the three phases (a U phase, a V phase, and a W phase) is selectedfrom the following two types: a high-voltage phase that has a relativelyhigh voltage; and a low-voltage phase that has a relatively low voltage.

Synchronous rotary machine 400 is, for example, a permanent magneticsynchronous motor. Examples of the permanent magnetic synchronous motorinclude an interior permanent magnet synchronous motor (IPMSM) and asurface permanent magnet synchronous motor (SPMSM). The IPMSM hassaliency in which d-axis inductance Ld and q-axis inductance Lq aredifferent (generally, inverse saliency of Lq > Ld), and reluctancetorque may also be used in addition to magnet torque. For this reason,the IPMSM has an extremely high driving efficiency. As synchronousrotary machine 400, it is also possible to use a synchronous reluctancemotor.

Advantageous Effects, Etc

Rotary machine control device 100 according to Embodiment 1 includes:magnetic flux estimator 112 that estimates a rotary machine magneticflux that is a magnetic flux of synchronous rotary machine 400; commandamplitude generator 118 that generates command amplitude | Ψs* | that isan amplitude of command magnetic fluxes Ψa* and Ψβ* by executingfeedback control that uses a first inner product or a second innerproduct, the first inner product being a product of estimated magneticflux Ψs that is an estimated rotary machine magnetic flux and detectioncurrent i of synchronous rotary machine 400, the second inner productbeing a product of detection current i and estimated magnet flux Ψam ofa permanent magnet included in synchronous rotary machine 400;magnetization characteristics determiner 120 that determines magnetphase θ_(dm) that is a phase of magnet flux Ψam based on estimatedmagnetic flux Ψs and detection current i, and also determines qm-axismagnetic flux Ψ_(qm) of estimated magnetic flux Ψ_(s), qm-axis currenti_(qm) of detection current i, and harmonic component nθ_(dm) of magnetphase θ_(dm) by using a dm-qm coordinate system with the dm axisrepresenting magnet phase θ_(dm) and the qm axis representing a phaseshifted by 90 degrees from magnet phase θ_(dm); ripple compensationdeterminer 122 that determines ripple compensation phase θ_(ripple) byusing ripple compensation torque T_(ripple) obtained based on qm-axiscurrent i_(qm) and harmonic component nθ_(dm); command phase determiner124 that determines command phase θ_(S)* based on ripple compensationphase θ_(ripple) and a torque command or a rotation speed command; andcommand magnetic flux generator 126 that generates command magneticfluxes Ψ_(a)* and Ψβ* based on command amplitude | Ψ_(s)* | and commandphase θ_(s)*.

With this configuration, it is possible to: determine magnet phaseθ_(dm); determine qm-axis magnetic flux Ψ_(qm) of estimated magneticflux Ψ_(s), qm-axis current i_(qm) of detection current i, and harmoniccomponent nθ_(dm) of magnet phase θ_(dm) by using a dm-qm coordinatesystem with the dm axis representing magnet phase θ_(dm) and the qm axisrepresenting a phase shifted by 90 degrees from magnet phase θ_(dm);determine ripple compensation phase θ_(ripple) by using ripplecompensation torque T_(ripple) obtained based on qm-axis current i_(qm)and harmonic component nθ_(dm); and determine command phase θ_(S)* basedon ripple compensation phase θ_(ripple) and a torque command or arotation speed command. Accordingly, in the position sensorless magneticflux control, the torque ripple can be effectively reduced.

Also, rotary machine control device 100 according to Embodiment 1further includes: phase determiner 114 that determines estimated phaseθ_(S) that is a phase of estimated magnetic flux Ψs based on estimatedmagnetic flux Ψ_(s); and torque estimator 116 that computes estimatedtorque T_(e) based on estimated magnetic flux Ψ_(s) and detectioncurrent i. Command phase determiner 124 determines command phase θ_(S)*by adding torque phase Δθ_(S) for converging estimated torque T_(e) oncommand torque T_(e)*, ripple compensation phase θ_(ripple,) andestimated phase θs,

With this configuration, command phase θ_(S)* can be determined byadding torque phase Δθ_(S) for converging estimated torque T_(e) oncommand torque T_(e)*, ripple compensation phase θ_(ripple), andestimated phase θ_(S). Accordingly, in the position sensorless magneticflux control, the torque ripple can be more effectively reduced.

Also, in rotary machine control device 100 according to Embodiment 1,command amplitude generator 118 sets a target value of a result ofcomputation of the first inner product or the second inner product tozero.

With this configuration, it is possible to cause electric current thatgenerates a field magnetic flux in the direction of magnet flux Ψam ofthe permanent magnet of synchronous rotary machine 400 to flow.Accordingly, the torque ripple can be more effectively reduced.

Embodiment 2

Hereinafter, a rotary machine control device according to Embodiment 2that is configured by changing a portion of rotary machine controldevice 100 according to Embodiment 1 will be described. Here, in therotary machine control device according to Embodiment 2, structuralelements that are the same as those of rotary machine control device 100are given the same reference numerals, and a detailed descriptionthereof will be omitted because they have already been described above.Accordingly, the following description will be given focusing on adifference from rotary machine control device 100.

FIG. 12 is a block diagram of command amplitude generator 118 a includedin the rotary machine control device according to Embodiment 2.

As shown in FIG. 12 , the rotary machine control device according toEmbodiment 2 is configured by replacing command amplitude generator 118of rotary machine control device 100 according to Embodiment 1 withcommand amplitude generator 118 a.

Command amplitude generator 118 a is different from command amplitudegenerator 118 mainly in that command amplitude generator 118 a does notinclude adder 142. Command amplitude generator 118 a outputs the valuedetermined by adder 140 as command amplitude | Ψ_(s)* | .

As described above, command amplitude generator 118 a does notnecessarily need to include adder 142.

Embodiment 3

Hereinafter, a rotary machine control device according to Embodiment 3that is configured by changing a portion of rotary machine controldevice 100 according to Embodiment 1 will be described. Here, in therotary machine control device according to Embodiment 3, structuralelements that are the same as those of rotary machine control device 100are given the same reference numerals, and a detailed descriptionthereof will be omitted because they have already been described above.Accordingly, the following description will be given focusing ondifferences from rotary machine control device 100.

FIG. 13 is a block diagram of magnetization characteristics determiner120 b included in the rotary machine control device according toEmbodiment 3. FIG. 14 is a block diagram of magnetizationcharacteristics determiner 120 c that is another magnetizationcharacteristics determiner included in the rotary machine control deviceaccording to Embodiment 3.

As shown in FIG. 13 , the rotary machine control device according toEmbodiment 3 is configured by replacing magnetization characteristicsdeterminer 120 of rotary machine control device 100 according toEmbodiment 1 with magnetization characteristics determiner 120 b.

Magnetization characteristics determiner 120 b is different frommagnetization characteristics determiner 120 mainly in thatmagnetization characteristics determiner 120 b further includes armaturereaction magnetic flux determiner 194.

Armature reaction magnetic flux determiner 194 multiplies axis currenti_(a) by virtual inductance L_(qm) to determine estimated armaturereaction magnetic flux L_(qm)i_(a) and outputs estimated armaturereaction magnetic flux L_(qm)i_(a), and also multiplies axis currenti_(β) by virtual inductance L_(qm) to determine estimated armaturereaction magnetic flux L_(qm)i_(β) and outputs estimated armaturereaction magnetic flux L_(qm)i_(β).

a, β/qm converter 150 converts estimated armature reaction magneticfluxes L_(qm)i_(a) and L_(qm)i_(β) to qm-axis magnetic flux Ψ_(qm).Specifically, a, β/qm converter 150 converts estimated armature reactionmagnetic fluxes L_(qm)i_(a) and L_(qm)i_(β) to qm-axis magnetic fluxΨ_(qm) by using Equation (25), and outputs qm-axis magnetic flux Ψ_(qm).

Ψ_(qm) = −(L_(qm)i_(α))sin θ_(dm) + (L_(qm)i_(β))cos θ_(dm)

As described above, magnetization characteristics determiner 120 b mayfurther include armature reaction magnetic flux determiner 194.

Magnetization characteristics determiner 120 b shown in FIG. 13 may bereplaced with magnetization characteristics determiner 120 c shown inFIG. 14 .

As shown in FIG. 14 , magnetization characteristics determiner 120 c isdifferent from magnetization characteristics determiner 120 b mainly inthat magnetization characteristics determiner 120 c includes armaturereaction magnetic flux determiner 194 c, instead of armature reactionmagnetic flux determiner 194. That is, armature reaction magnetic fluxdeterminer 194 c is provided downstream of a, β/qm converter 148.Armature reaction magnetic flux determiner 194 c multiplies qm-axiscurrent i_(qm) output from a, β/qm converter 148 by virtual inductanceL_(qm), and outputs qm-axis magnetic flux Ψ_(qm). Accordingly, withmagnetization characteristics determiner 120 c, it is unnecessary toprovide a, β/qm converter 150, and thus magnetization characteristicsdeterminer 120 c can have a simpler configuration than magnetizationcharacteristics determiner 120 b.

As described above, magnetization characteristics determiner 120 b maybe replaced with magnetization characteristics determiner 120 c thatincludes armature reaction magnetic flux determiner 194 c.

Embodiment 4

Hereinafter, a rotary machine control device according to Embodiment 4that is configured by changing a portion of rotary machine controldevice 100 according to Embodiment 1 will be described. Here, in therotary machine control device according to Embodiment 4, structuralelements that are the same as those of rotary machine control device 100are given the same reference numerals, and a detailed descriptionthereof will be omitted because they have already been described above.Accordingly, the following description will be given focusing ondifferences from rotary machine control device 100.

FIG. 15 is a block diagram of position sensorless controller 106 cincluded in the rotary machine control device according to Embodiment 4.FIG. 16 is a block diagram of command phase determiner 124 c included inposition sensorless controller 106 c shown in FIG. 15 .

As shown in FIG. 15 , the rotary machine control device according toEmbodiment 4 is configured by replacing position sensorless controller106 of rotary machine control device 100 according to Embodiment 1 withposition sensorless controller 106 c.

Position sensorless controller 106 c is different from positionsensorless controller 106 mainly in that position sensorless controller106 c includes command phase determiner 124 c, instead of command phasedeterminer 124.

In the present embodiment, command speed w_(ref)* is input to positionsensorless controller 106 c. Command speed w_(ref)* represents a speedto be followed by synchronous rotary machine 400. Position sensorlesscontroller 106 c generates command voltage vectors v_(u)*, v_(v)*, andv_(w)* from command speed w_(ref)* and phase currents i_(u) and i_(w).By performing control as described above, synchronous rotary machine 400is controlled such that the speed of synchronous rotary machine 400follows command speed w_(ref)*.

As shown in FIG. 16 , command phase determiner 124 c includes integrator200 and adder 202. Command phase determiner 124 c determines commandphase θ_(S)* based on ripple compensation phase θ_(ripple) and arotation speed command.

Integrator 200 integrates command speed _(Wref)*.

Adder 202 adds ripple compensation phase θ_(ripple) to the valuedetermined by integrator 200 to determine command phase θ_(S)*.

As described above, the rotary machine control device may includeposition sensorless controller 106 c instead of position sensorlesscontroller 106.

Embodiment 5

Hereinafter, a rotary machine control device according to Embodiment 5that is configured by changing a portion of the rotary machine controldevice according to Embodiment 4 will be described. Here, in the rotarymachine control device according to Embodiment 5, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 4 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 4.

FIG. 17 is a block diagram of command phase determiner 124 d included inthe rotary machine control device according to Embodiment 5.

As shown in FIG. 17 , the rotary machine control device according toEmbodiment 5 is configured by replacing command phase determiner 124 cof the rotary machine control device according to Embodiment 4 withcommand phase determiner 124 d.

Command phase determiner 124 d: (i) determines movement amount Δθ ofestimated phase θ_(S) of estimated magnetic flux Ψs for each controlcycle by which estimated phase θ_(S) needs to move by using a rotationspeed command input to synchronous rotary machine 400; and (ii)determines command phase θ_(s)* by using determined movement amount Δθand ripple compensation phase θ_(ripple). Command phase determiner 124 dincludes adder 202, multiplier 204, and adder 206.

Multiplier 204 multiplies command speed w_(ref)* by T_(s) to determinemovement amount Δθ. Here, T_(s) represents a control cycle.

Adder 202 adds ripple compensation phase θ_(ripple) to movement amountΔθ.

Adder 206 adds estimated phase θ_(S) to the value determined by adder202 to determine command phase θ_(s)*.

As described above, command phase determiner 124 d may include adder202, multiplier 204, and adder 206.

The rotary machine control device according to Embodiment 5 furtherinclude phase determiner 114 that determines estimated phase θ_(S) thatis the phase of estimated magnetic flux Ψs based on estimated magneticflux Ψ_(s). Command phase determiner 124 d: (i) determines movementamount Δθ of estimated phase Ψs for each control cycle by whichestimated phase Ψs needs to move by using a rotation speed command inputto synchronous rotary machine 400; and (ii) determines command phaseθ_(S)* by using determined movement amount Δθ, ripple compensation phaseθ_(ripple.) and estimated phase θ_(s.)

With this configuration, command phase θ_(S)* can be determined by usingmovement amount Δθ of estimated phase Ψs for each control cycle by whichestimated phase Ψs needs to move, ripple compensation phase θ_(ripple),and estimated phase θ_(S). Accordingly, in the position sensorlessmagnetic flux control, the torque ripple can be more effectivelyreduced.

Embodiment 6

Hereinafter, a rotary machine control device according to Embodiment 6that is configured by changing a portion of the rotary machine controldevice according to Embodiment 5 will be described. Here, in the rotarymachine control device according to Embodiment 6, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 5 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 5.

FIG. 18 is a block diagram of command phase determiner 124 e included inthe rotary machine control device according to Embodiment 6.

As shown in FIG. 18 , the rotary machine control device according toEmbodiment 6 is configured by replacing command phase determiner 124 dof the rotary machine control device according to Embodiment 5 withcommand phase determiner 124 e.

Command phase determiner 124 e determines command phase θ_(S)* byfurther using estimated torque T_(e). Command phase determiner 124 eincludes adder 202, adder 206, multiplier 208, high-pass filter 210,sign inverter 212, PI compensator 214, and adder 216.

Multiplier 208 multiplies command speed (ω_(ref)* by T_(s) to determine(ω_(ref)*T_(s).

High-pass filter 210 outputs torque T_(H) from estimated torque Te.

Sign inverter 212 inverts the sign of torque T_(H).

PI compensator 214 determines Δω_(ref)*T_(s) from torque -T_(H).

Adder 216 adds (ω_(ref)*T_(s) determined by multiplier 208 andΔω_(ref)*T_(s) determined by PI compensator 214 to determine torquephase Δθ_(s).

Adder 202 adds ripple compensation phase θ_(ripple) to torque phaseΔθ_(s).

Adder 206 adds estimated phase θ_(S) to the value determined by adder202 to determine command phase θ_(s)*.

As described above, command phase determiner 124 e may include adder202, adder 206, multiplier 208, high-pass filter 210, sign inverter 212,PI compensator 214, and adder 216.

The rotary machine control device according to Embodiment 6 may furtherinclude torque estimator 116 that computes estimated torque T_(e) basedon estimated magnetic flux Ψs and detection current i. Command phasedeterminer 124 e determines command phase θ_(S)* by further usingestimated torque T_(e).

With this configuration, command phase θ_(S)* can be determined byfurther using estimated torque T_(e). Accordingly, in the positionsensorless magnetic flux control, the torque ripple can be moreeffectively reduced.

Embodiment 7

Hereinafter, a rotary machine control device according to Embodiment 7that is configured by changing a portion of the rotary machine controldevice according to Embodiment 4 will be described. Here, in the rotarymachine control device according to Embodiment 7, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 4 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 4.

FIG. 19 is a block diagram of command phase determiner 124 f included inthe rotary machine control device according to Embodiment 7.

As shown in FIG. 19 , the rotary machine control device according toEmbodiment 7 is configured by replacing command phase determiner 124 cof the rotary machine control device according to Embodiment 4 withcommand phase determiner 124 f.

Command phase determiner 124 f includes integrator 200, adder 202,high-pass filter 218, gain multiplier 220, and subtracter 222.

High-pass filter 218 outputs torque T_(H) from estimated torque Te.

Gain multiplier 220 multiplies torque T_(H) by gain K₁.

Subtracter 222 subtracts K₁T_(H) from command speed _(Wref)*.

Integrator 200 integrates the value determined by subtracter 222.

Adder 202 adds ripple compensation phase θ_(ripple) to the valuedetermined by integrator 200 to determine command phase θ_(S)*.

As described above, command phase determiner 124 f may includeintegrator 200, adder 202, high-pass filter 218, gain multiplier 220,and subtracter 222.

Embodiment 8

Hereinafter, a rotary machine control device according to Embodiment 8that is configured by changing a portion of the rotary machine controldevice according to Embodiment 7 will be described. Here, in the rotarymachine control device according to Embodiment 8, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 7 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 7.

FIG. 20 is a block diagram of command phase determiner 124 g included inthe rotary machine control device according to Embodiment 8.

As shown in FIG. 20 , the rotary machine control device according toEmbodiment 8 is configured by replacing command phase determiner 124 fof the rotary machine control device according to Embodiment 7 withcommand phase determiner 124 g.

Command phase determiner 124 g includes adder 202, multiplier 204, adder206, high-pass filter 218, gain multiplier 220, and subtracter 222.

Adder 202 adds ripple compensation phase θ_(ripple) to movement amountΔθ determined by multiplier 204.

Adder 206 adds estimated phase θ_(S) to the value determined by adder202 to determine command phase θ_(s)*.

As described above, command phase determiner 124 g may include adder202, multiplier 204, adder 206, high-pass filter 218, gain multiplier220, and subtracter 222.

Embodiment 9

Hereinafter, a rotary machine control device according to Embodiment 9that is configured by changing a portion of the rotary machine controldevice according to Embodiment 8 will be described. Here, in the rotarymachine control device according to Embodiment 9, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 8 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 8.

FIG. 21 is a block diagram of command phase determiner 124 h included inthe rotary machine control device according to Embodiment 9.

As shown in FIG. 21 , the rotary machine control device according toEmbodiment 9 is configured by replacing command phase determiner 124 gof the rotary machine control device according to Embodiment 8 withcommand phase determiner 124 h.

Command phase determiner 124 h includes adder 202, adder 206, multiplier208, PI compensator 214, adder 216, low-pass filter 224, and subtracter226.

Multiplier 208 multiplies command speed w_(ref)* by T_(s) to determine(ω_(ref)*T_(s).

Low-pass filter 224 outputs torque T_(L) from estimated torque Te.

Subtracter 226 subtracts estimated torque T_(e) from torque T_(L) todetermine torque -T_(H).

PI compensator 214 determines Δω_(ref)*T_(s) from torque -T_(H).

Adder 216 adds (ω_(ref)*T_(s) determined by multiplier 208 andΔω_(ref)*T_(s) determined by PI compensator 214 to determine torquephase Δθ_(s).

Adder 202 adds ripple compensation phase θ_(ripple) to torque phaseΔθ_(S) determined by adder 216.

Adder 206 adds estimated phase θ_(S) to the value determined by adder202 to determine command phase θ_(s)*.

As described above, command phase determiner 124 h may include adder202, adder 206, multiplier 208, PI compensator 214, adder 216, low-passfilter 224, and subtracter 226.

Embodiment 10

Hereinafter, rotary machine control device 100 j according to Embodiment10 that is configured by changing a portion of rotary machine controldevice 100 according to Embodiment 1 will be described. Here, in rotarymachine control device 100 j according to Embodiment 10, structuralelements that are the same as those of rotary machine control device 100are given the same reference numerals, and a detailed descriptionthereof will be omitted because they have already been described above.Accordingly, the following description will be given focusing on adifference from rotary machine control device 100.

As shown in FIG. 22 , rotary machine control device 100 j includes firstcurrent sensor 102, second current sensor 104, position sensorlesscontroller 106 j, and duty generator 108. Rotary machine control device100 j is connected to PWM (Pulse Width Modulation) inverter 300 andsynchronous rotary machine 400.

Position sensorless controller 106 j performs position sensorlessmagnetic flux control of synchronous rotary machine 400. Positionsensorless controller 106 j is configured to perform the positionsensorless magnetic flux control operation of synchronous rotary machine400. In the present embodiment, during a period in which the positionsensorless magnetic flux control operation is performed, the rotationspeed (the number of rotations) of the rotor of synchronous rotarymachine 400 matches the rotation speed (synchronous speed) of a rotarymachine current that is applied to synchronous rotary machine 400. Theposition sensorless magnetic flux control operation is an operationperformed without using an encoder and a position sensor such as aresolver. In the specification of the present application, for the sakeof convenience of the description, an operation of controlling a rotarymachine magnetic flux by using the phase of an estimated rotary machinemagnetic flux will be referred to as a “magnetic flux controloperation”. The rotary machine magnetic flux conceptually includes bothan armature interlinkage magnetic flux in a three-phase AC coordinatesystem that is applied to synchronous rotary machine 400 and a magneticflux obtained by coordinate converting the armature interlinkagemagnetic flux. In the specification of the present application, the term“amplitude” may also simply indicate magnitude (absolute value).

Some or all of the structural elements of rotary machine control device100 j may be provided by a control application executed by a DSP(Digital Signal Processor) or a microcomputer. The DSP or themicrocomputer may include a core, a memory, an A/D conversion circuit,and peripheral devices such as a communication port. Also, some or allof the structural elements of rotary machine control device 100 j may beconfigured using a logic circuit.

Overview of Control of Rotary Machine Control Device 100 j

Rotary machine control device 100 j generates duties D_(u), D_(v), andD_(w) from command torque T_(e)* and phase currents i_(u) and i_(w).Voltage vectors v_(u), v_(v), and v_(w) to be applied to synchronousrotary machine 400 are generated from duties D_(u), D_(v), and D_(w) byPWM inverter 300. Command torque T_(e)* is input from an upper controldevice to rotary machine control device 100 j. Command torque T_(e)*represents a torque to be followed by a motor torque.

Hereinafter, an overview of an operation performed by rotary machinecontrol device 100 j will be described. Phase currents i_(u) and i_(w)are detected by current sensors 102 and 104 (first current sensor 102and second current sensor 104). During the operation of the positionsensorless magnetic flux control operation, command voltage vectorsv_(u)*, v_(v)*, and v_(w)* are generated from command torque T_(e)* andphase currents i_(u) and i_(w) by position sensorless controller 106 j.The components of command voltage vectors v_(u)*, v_(v)*, and v_(w)*correspond to a U-phase voltage, a V-phase voltage, and a W-phasevoltage on the three-phase AC coordinate, respectively. Duties D_(u),D_(v), and D_(w) are generated from command voltage vectors v_(u)*,v_(v)*, and v_(w)* by duty generator 108. Duties D_(u), D_(v), and D_(w)are input to PWM inverter 300. By performing control as described above,synchronous rotary machine 400 is controlled such that the torquefollows command torque T_(e)*.

Hereinafter, rotary machine control device 100 j may be described basedon a a-β coordinate system. Also, rotary machine control device 100 jmay also be described based on a d-q coordinate system. Also, rotarymachine control device 100 j may also be described based on a dm-qmcoordinate system. FIG. 2 shows the a-β coordinate system, the d-qcoordinate system, and the dm-qm coordinate system. The a-β coordinatesystem is a fixed coordinate system. The a-β coordinate system may alsobe called a stationary coordinate system or an AC coordinate system. Thea axis is set as the axis extending in the same direction as the U axis(not shown in FIG. 2 ). The U axis corresponds to U-phase winding ofrotary machine control device 100. The β axis is orthogonal to the aaxis. The d-q coordinate system is a rotating coordinate system. The d-qcoordinate system is a coordinate system with the d axis representingthe phase of the rotor of synchronous rotary machine 400 and the q axisrepresenting a phase shifted by 90 degrees from the phase of the rotorof synchronous rotary machine 400. The dm-qm coordinate system is arotating coordinate system. The dm-qm coordinate system is a coordinatesystem with the dm axis representing magnet phase θ_(dm) that is thephase of magnet flux Ψ_(m) that is an estimated magnetic flux of apermanent magnet included in synchronous rotary machine 400 and the qmaxis representing a phase shifted by 90 degrees from magnet phaseθ_(dm).

Position Sensorless Controller 106 j

Referring back to FIG. 22 , position sensorless controller 106 jperforms the position sensorless magnetic flux control operation to seta command amplitude such that the amplitude of the rotary machinemagnetic flux converges on a target amplitude. The position sensorlessmagnetic flux control operation is performed by referencing commandphase θ_(S)* determined from the phase (estimated phase θ_(S)) of therotary machine magnetic flux estimated based on magnetic flux estimator112 (described later). The target amplitude is an amplitude to befinally reached by the amplitude of the rotary machine magnetic flux.The command amplitude is an amplitude to be followed by the amplitude ofthe rotary machine magnetic flux.

As shown in FIG. 23 , position sensorless controller 106 j includes u,w/a, β converter 110, magnetic flux estimator 112, phase determiner 114,torque estimator 116, command amplitude generator 118, magnetizationcharacteristics determiner 120, ripple compensation determiner 122 j,command phase determiner 124 j, command magnetic flux generator 126,voltage command generator 128, and a, β/u , v, w converter 130.

In position sensorless controller 106 j, phase currents i_(u) and i_(w)are converted to axis currents i_(a) and i_(β) by u, w/a, β converter110. The expression “axis currents i_(a) and i_(β)” is a collectiveexpression for a-axis current i_(a) and β-axis current i_(β) on the a-βcoordinate system of synchronous rotary machine 400. The rotary machinemagnetic flux is estimated (estimated magnetic flux Ψs is determined) bymagnetic flux estimator 112. The a-axis component and the β-axiscomponent of estimate magnetic flux Ψs will be referred to as “estimatedmagnetic flux Ψa” and “estimated magnetic flux Ψ_(β)”, respectively. Thephase of the rotary machine magnetic flux is estimated (estimated phaseθ_(S) of estimated magnetic flux Ψs is determined) from estimatedmagnetic flux Ψs by phase determiner 114. The motor torque is estimated(estimated torque T_(e) is determined) from estimated magnetic flux Ψsand axis currents i_(a) and i_(β) by torque estimator 116. Commandamplitude |Ψ_(s)* | is generated from estimated magnetic flux Ψs andaxis currents i_(a) and i_(β) by command amplitude generator 118.Qm-axis current i_(qm) and harmonic component nθ_(dm) of magnet phaseθ_(dm) are determined from estimated magnetic flux Ψs and axis currentsi_(a)and i_(β) by magnetization characteristics determiner 120. Ripplecompensation torque T_(ripple) is determined from qm-axis current i_(qm)and harmonic component nθ_(dm) by ripple compensation determiner 122 j.The command phase (command magnetic flux vector phase) θ_(s)* of commandmagnetic flux vector Ψ_(s)* is determined from estimated phase θ_(S) ofestimated magnetic flux Ψ_(s), command torque T_(e)*, estimated torqueT_(e), and ripple compensation torque T_(ripple) by command phasedeterminer 124 j. Command magnetic flux vector Ψ_(s)* is determined fromcommand amplitude |Ψ_(S)* | and command phase θ_(S)* by command magneticflux generator 126. The a-axis component and the β-axis component ofcommand magnetic flux vector Ψ_(s)* will be referred to as “a-axiscommand magnetic flux Ψa*” and “β-axis command magnetic flux Ψβ*”,respectively. Command axis voltages v_(a)* and vβ* are determined fromcommand magnetic fluxes Ψ_(a)* and Ψ_(β)*, estimated magnetic fluxesΨ_(a) and Ψ_(β), and axis currents i_(a)and i_(β) by voltage commandgenerator 128. The expression “command axis voltages v_(a)* and vp*” isa collective expression for a-axis command axis voltage v_(a)* andβ-axis command axis voltage V_(β)* on the a - β coordinate system ofsynchronous rotary machine 400. Command axis voltages v_(a)* and V_(β)*are converted to command voltage vectors v_(u)*, v_(v)*, and V_(w)* bya, β/u, v, w converter 130.

In the position sensorless magnetic flux control operation, byperforming control as described above, the motor torque follows commandtorque T_(e)*, the rotary machine magnetic flux follows command magneticflux vector Ψ_(s)*. As a result, the speed of synchronous rotary machine400 follows command speed _(Wref)*. In the above-described expression“position sensorless controller 106 j performs the position sensorlessmagnetic flux control operation to set a command amplitude such that theamplitude of the rotary machine magnetic flux converges on a targetamplitude”, the target amplitude corresponds to command amplitude|Ψ_(s)* | . By taking this into consideration, in the followingdescription, command amplitude |Ψ_(S)* | may also be referred to as“target amplitude |Ψ_(S)* |”.

In the specification of the present application, axis currents i_(a) andi_(β) mean current values that are transmitted as information, ratherthan electric currents that actually flow through synchronous rotarymachine 400. Command axis voltages v_(a)* and V_(β)*, estimated magneticflux Ψ_(s), estimated phase θs, command phase θ_(s)*, estimated torqueT_(e), command torque T_(e)*, command amplitude | Ψ_(s)* | (targetamplitude | Ψ_(s)* |), command magnetic flux vector Ψs*, command voltagevectors v_(u)*, v_(v)*, and V_(w)*, command speed ω_(ref)*, magnet phaseθ_(dm), harmonic component nθ_(dm), and qm-axis current i_(qm), and thelike also mean values that are transmitted as information.

The structural elements of position sensorless controller 106 j shown inFIG. 23 will be described below.

Ripple Compensation Determiner 122 j

As shown in FIG. 24 , ripple compensation determiner 122 j determinesripple compensation torque T_(ripple) based on qm-axis current i_(qm)and harmonic component nθ_(dm). Ripple compensation determiner 122 jincludes magnetic energy table 168 and ripple torque determiner 170.

Ripple compensation determiner 122 j determines magnetic energyW’_(qmcn) and magnetic energy W’_(qmsn) by using qm-axis current i_(qm)output from a, β/qm converter 148 and magnetic energy table 168 (seeFIG. 7 ) created by magnetic energy determiner 156. Specifically, ripplecompensation determiner 122 j selects, from magnetic energy table 168, avalue of magnetic energy W’_(qmcn) that corresponds to the value ofqm-axis current i_(qm) output from a, β/qm converter 148, and outputsthe selected value. Also, ripple compensation determiner 122 j selects,from magnetic energy table 168, a value of magnetic energy W’_(qmsn)that corresponds to the value of qm-axis current i_(qm) output from a,β/qm converter 148, and outputs the selected value.

Command Phase Determiner 124 j

Referring back to FIG. 23 , command phase determiner 124 j determinesthe command magnetic flux vector phase based on ripple compensationphase θ_(ripple) determined based on ripple compensation torqueT_(ripple) by resonator 189 (described later) and a torque command or arotation speed command. Here, an example will be described in which thecommand magnetic flux vector phase is determined by using the torquecommand. The command magnetic flux vector phase is command phase θ_(s)*.That is, in the present embodiment, as shown in FIG. 2 , command phaseθ_(S)* is the phase of command magnetic flux vector Ψ_(s)*. In thepresent embodiment, command phase determiner 124 j determines commandphase θ_(S)* by adding torque phase Δθ_(S) for converging estimatedtorque T_(e) on command torque T_(e)*, ripple compensation phaseθ_(ripple), and estimated phase θ_(S). That is, command phase determiner124 j determines command phase θ_(S)* by using torque phase Δθ_(S),ripple compensation phase θ_(ripple), and estimated phase θ_(S).

As shown in FIG. 25 , command phase determiner 124 j includes subtracter186, PI compensator 188, resonator 189, adder 190, and adder 192.

Subtracter 186 subtracts estimated torque T_(e) and ripple compensationtorque T_(ripple) from command torque T_(e)* to determine deviation ΔT.

PI compensator 188 determines torque phase Δθ_(S) by performingproportional-integral control for converging deviation ΔT determined bysubtracter 186 on 0.

Resonator 189 determines ripple compensation phase θ_(ripple) by usingdeviation ΔT based on Equation (26). Here, b₀ represents a coefficient,and is a preset constant. Also, ξ represents a damping coefficient,ω_(n) represents a natural frequency, and s represents a transferfunction.

$\text{θ}_{\text{ripple}} = \frac{b_{0}\Delta T}{\left( {s^{2} + 2\text{ξ}\text{ω}_{\text{n}}s + \omega_{n}{}^{2}} \right)}$

In the manner as described above, resonator 189 determines ripplecompensation phase θ_(ripple) based on ripple compensation torqueT_(ripple). For example, resonator 189 is a resonator device.

Adder 190 adds torque phase Δθ_(S) and ripple compensation phaseθ_(ripple).

Adder 192 further adds estimated phase θ_(S) to torque phase Δθ_(S) andripple compensation phase θ_(ripple) to determine command phase θ_(S)*.

Advantageous Effects, Etc

Rotary machine control device 100 j according to Embodiment 10 includes:magnetic flux estimator 112 that estimates a rotary machine magneticflux that is a magnetic flux of synchronous rotary machine 400; commandamplitude generator 118 that generates command amplitude | Ψ_(s)* | thatis an amplitude of command magnetic fluxes Ψ_(a)* and Ψ_(β)* byexecuting feedback control that uses a first inner product or a secondinner product, the first inner product being a product of estimatedmagnetic flux Ψ_(s) that is the estimated rotary machine magnetic fluxand detection current i of synchronous rotary machine 400, the secondinner product being a product of detection current i of synchronousrotary machine 400 and estimated magnet flux Ψ_(am) of a permanentmagnet included in synchronous rotary machine 400; magnetizationcharacteristics determiner 120 that determines magnet phase θ_(dm) thatis a phase of magnet flux Ψ_(am) based on estimated magnetic flux Ψ_(s)and detection current i, and also determines qm-axis magnetic fluxΨ_(qm) of estimated magnetic flux Ψ_(s), qm-axis current i_(qm) ofdetection current i, and harmonic component nθ_(dm) of magnet phaseθ_(dm) by using a dm-qm coordinate system with the dm axis representingmagnet phase θ_(dm) and the qm axis representing a phase shifted by 90degrees from magnet phase θ_(dm); ripple compensation determiner 122 jthat determines ripple compensation torque T_(ripple) based on qm-axiscurrent i_(qm) and harmonic component nθ_(dm); command phase determiner124 j that determines command phase θ_(S)* based on ripple compensationphase θ_(ripple) determined based on ripple compensation torqueT_(ripple) by resonator 189 and a torque command or a rotation speedcommand; and command magnetic flux generator 126 that generates commandmagnetic fluxes Ψ_(a)* and Ψ_(β)* based on command amplitude |Ψ_(S)* |and command phase 6_(s)*.

With this configuration, magnet phase θ_(dm) can be determined; qm-axismagnetic flux Ψ_(qm) of estimated magnetic flux Ψ_(s), qm-axis currenti_(qm) of detection current i, and harmonic component nθ_(dm) of magnetphase θ_(dm) can be determined by using a dm-qm coordinate system withthe dm axis representing magnet phase θ_(dm) and the qm axisrepresenting a phase shifted by 90 degrees from magnet phase θ_(dm);ripple compensation torque T_(ripple) can be determined based on qm-axiscurrent i_(qm) and harmonic component nθ_(dm); and command phase θ_(S)*can be determined based on ripple compensation phase θ_(ripple)determined based on ripple compensation torque T_(ripple) and a torquecommand or a rotation speed command. Accordingly, in the positionsensorless magnetic flux control, the torque ripple can be effectivelyreduced.

Also, in Embodiment 10, as described with reference to FIG. 25 , ripplecompensation phase θ_(ripple) is determined by using estimated torqueT_(e), and thus the torque ripple can be reduced with high accuracy.

Also, rotary machine control device 100 j according to Embodiment 10further includes: phase determiner 114 that determines estimated phaseθ_(S) that is a phase of estimated magnetic flux Ψs based on estimatedmagnetic flux Ψ_(s); and torque estimator 116 that computes estimatedtorque T_(e) based on estimated magnetic flux Ψs and detection currenti. Command phase determiner 124 j determines command phase θ_(S)* byadding torque phase Δθ_(S) for converging estimated torque T_(e) oncommand torque T_(e)*, ripple compensation phase θ_(ripple), andestimated phase θ_(s).

With this configuration, command phase θ_(S)* can be determined byadding torque phase Δθ_(S) for converging estimated torque T_(e) oncommand torque T_(e)*, ripple compensation phase θ_(ripple), andestimated phase θs, and thus, in the position sensorless magnetic fluxcontrol, the torque ripple can be more effectively reduced.

Also, in rotary machine control device 100 j according to Embodiment 10,command amplitude generator 118 sets a target value of a result ofcomputation of the first inner product or the second inner product tozero.

With this configuration, it is possible to cause electric current thatgenerates a field magnetic flux in the direction of magnet flux Ψam ofthe permanent magnet of synchronous rotary machine 400 to flow.Accordingly, the torque ripple can be more effectively reduced.

Embodiment 11

Hereinafter, a rotary machine control device according to Embodiment 11that is configured by changing a portion of rotary machine controldevice 100 j according to Embodiment 10 will be described. Here, in therotary machine control device according to Embodiment 11, structuralelements that are the same as those of rotary machine control device 100j are given the same reference numerals, and a detailed descriptionthereof will be omitted because they have already been described above.Accordingly, the following description will be given focusing on adifference from rotary machine control device 100 j.

FIG. 12 is a block diagram of command amplitude generator 118 a includedin the rotary machine control device according to Embodiment 2.

As shown in FIG. 12 , the rotary machine control device according toEmbodiment 11 is configured by replacing command amplitude generator 118of rotary machine control device 100 j according to Embodiment 10 withcommand amplitude generator 118 a.

Embodiment 12

Hereinafter, a rotary machine control device according to Embodiment 12that is configured by changing a portion of rotary machine controldevice 100 j according to Embodiment 10 will be described. Here, in therotary machine control device according to Embodiment 12, structuralelements that are the same as those of rotary machine control device 100j are given the same reference numerals, and a detailed descriptionthereof will be omitted because they have already been described above.Accordingly, the following description will be given focusing on adifference from rotary machine control device 100 j.

FIG. 13 is a block diagram of magnetization characteristics determiner120 b included in the rotary machine control device according toEmbodiment 3. FIG. 14 is a block diagram of magnetizationcharacteristics determiner 120 c that is another magnetizationcharacteristics determiner included in the rotary machine control deviceaccording to Embodiment 3.

As shown in FIG. 13 , the rotary machine control device according toEmbodiment 12 is configured by replacing magnetization characteristicsdeterminer 120 of rotary machine control device 100 j according toEmbodiment 10 with magnetization characteristics determiner 120 b.

Magnetization characteristics determiner 120 b shown in FIG. 13 may bereplaced with magnetization characteristics determiner 120 c shown inFIG. 14 .

Embodiment 13

Hereinafter, a rotary machine control device according to Embodiment 13that is configured by changing a portion of rotary machine controldevice 100 j according to Embodiment 10 will be described. Here, in therotary machine control device according to Embodiment 13, structuralelements that are the same as those of rotary machine control device 100j are given the same reference numerals, and a detailed descriptionthereof will be omitted because they have already been described above.Accordingly, the following description will be given focusing on adifference from rotary machine control device 100 j.

FIG. 26 is a block diagram of position sensorless controller 106 kincluded in the rotary machine control device according to Embodiment13. FIG. 27 is a block diagram of command phase determiner 124 kincluded in position sensorless controller 106 k shown in FIG. 26 .

As shown in FIG. 26 , the rotary machine control device according toEmbodiment 13 is configured by replacing position sensorless controller106 j of rotary machine control device 100 j according to Embodiment 10with position sensorless controller 106 k.

Position sensorless controller 106 k is different from positionsensorless controller 106 j mainly in that position sensorlesscontroller 106 k includes command phase determiner 124 k, instead ofcommand phase determiner 124 j.

In the present embodiment, command speed w_(ref)* is input to positionsensorless controller 106 k. Command speed w_(ref)* represents a speedto be followed by synchronous rotary machine 400. Position sensorlesscontroller 106 k generates command voltage vectors v_(u)*, v_(v)*, andV_(w)* from command speed w_(ref)* and phase currents i_(u) and i_(w).By performing control as described above, synchronous rotary machine 400is controlled such that the speed of synchronous rotary machine 400follows command speed w_(ref)*.

As shown in FIG. 27 , command phase determiner 124 k includes resonator189, integrator 200, and adder 202. Command phase determiner 124 kdetermines command phase θ_(S)* based on ripple compensation phaseθ_(ripple) and a rotation speed command.

Resonator 189 determines ripple compensation phase θ_(ripple) based onripple compensation torque T_(ripple). For example, resonator 189determines ripple compensation phase θ_(ripple) through calculationperformed by replacing ΔT in Equation (26) described above withT_(ripple).

Integrator 200 integrates command speed _(Wref)*.

Adder 202 adds ripple compensation phase θ_(ripple) to the valuedetermined by integrator 200 to determine command phase θ_(S)*.

As described above, the rotary machine control device may includeposition sensorless controller 106 k instead of position sensorlesscontroller 106 j.

Embodiment 14

Hereinafter, a rotary machine control device according to Embodiment 14that is configured by changing a portion of the rotary machine controldevice according to Embodiment 13 will be described. Here, in the rotarymachine control device according to Embodiment 14, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 13 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 13.

FIG. 28 is a block diagram of command phase determiner 124I included inthe rotary machine control device according to Embodiment 14.

As shown in FIG. 28 , the rotary machine control device according toEmbodiment 14 is configured by replacing command phase determiner 124 kof the rotary machine control device according to Embodiment 13 withcommand phase determiner 124I.

Command phase determiner 124I: (i) determines movement amount Δθ ofestimated phase θ_(S) of estimated magnetic flux Ψs for each controlcycle by which estimated phase θ_(S) needs to move by using a rotationspeed command input to synchronous rotary machine 400; and (ii)determines command phase θ_(s)* by using determined movement amount Δθand ripple compensation phase θ_(ripple). Command phase determiner 124Iincludes resonator 189, adder 202, multiplier 204, and adder 206.

Multiplier 204 multiplies command speed w_(ref)* by T_(s) to determinemovement amount Δθ. Here, T_(s) represents a control cycle.

Adder 202 adds ripple compensation phase θ_(ripple) to movement amountΔθ.

Adder 206 adds estimated phase θ_(S) to the value determined by adder202 to determine command phase θ_(s)*.

As described above, command phase determiner 124I may include resonator189, adder 202, multiplier 204, and adder 206.

The rotary machine control device according to Embodiment 14 furtherincludes phase determiner 114 that determines estimated phase θ_(S) thatis the phase of estimated magnetic flux Ψs based on estimated magneticflux Ψ_(s). Command phase determiner 124I: (i) determines movementamount Δθ of estimated phase Ψs for each control cycle by whichestimated phase ψ_(s) needs to move by using a rotation speed commandinput to synchronous rotary machine 400; and (ii) determines commandphase θ_(s)* by using determined movement amount Δθ, ripple compensationphase θ_(ripple), and estimated phase θ_(s).

With this configuration, command phase θ_(s)* can be determined by usingmovement amount Δθ of estimated phase ψ_(s) for each control cycle bywhich estimated phase ψ_(s) needs to move, ripple compensation phaseθ_(ripple), and estimated phase θ_(s). Accordingly, in the positionsensorless magnetic flux control, the torque ripple can be moreeffectively reduced.

Embodiment 15

Hereinafter, a rotary machine control device according to Embodiment 15that is configured by changing a portion of the rotary machine controldevice according to Embodiment 14 will be described. Here, in the rotarymachine control device according to Embodiment 15, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 14 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 14.

FIG. 29 is a block diagram of command phase determiner 124 m included inthe rotary machine control device according to Embodiment 15.

As shown in FIG. 29 , the rotary machine control device according toEmbodiment 15 is configured by replacing command phase determiner 124Iof the rotary machine control device according to Embodiment 14 withcommand phase determiner 124 m.

Command phase determiner 124 m determines command phase θ_(s)* byfurther using estimated torque T_(e). Command phase determiner 124 mincludes resonator 189, adder 202, adder 206, multiplier 208, high-passfilter 210, sign inverter 212, PI compensator 214, adder 216, andsubtracter 217.

Multiplier 208 multiplies command speed ω_(ref)* by T_(s) to determineω_(ref)*T_(s).

High-pass filter 210 outputs torque T_(H) from estimated torque T_(e).

Sign inverter 212 inverts the sign of torque T_(H).

PI compensator 214 determines Δω_(ref)*T_(s) from torque -T_(H).

Adder 216 adds ω_(ref)*T_(s) determined by multiplier 208 andΔω_(ref)*T_(s) determined by PI compensator 214 to determine torquephase Δθ_(s).

Subtracter 217 subtracts T_(e) from -T_(ripple).

Resonator 189 determines ripple compensation phase θ_(ripple) based onripple compensation torque T_(ripple). For example, resonator 189determines ripple compensation phase θ_(ripple) through calculationperformed by replacing ΔT in Equation (26) described above with-T_(ripple)-T_(e).

Adder 202 adds ripple compensation phase θ_(ripple) to torque phaseΔθ_(s).

Adder 206 adds estimated phase θ_(s) to the value determined by adder202 to determine command phase θ_(s)*.

As described above, command phase determiner 124 m may include resonator189, adder 202, adder 206, multiplier 208, high-pass filter 210, signinverter 212, PI compensator 214, adder 216, and subtracter 217.

The rotary machine control device according to Embodiment 15 furtherincludes torque estimator 116 that computes estimated torque T_(e) basedon estimated magnetic flux ψ_(s) and detection current i, and commandphase determiner 124 m determines command phase θ_(s)* by further usingestimated torque T_(e).

With this configuration, command phase θ_(s)* can be determined byfurther using estimated torque T_(e). Accordingly, in the positionsensorless magnetic flux control, the torque ripple can be moreeffectively reduced.

Embodiment 16

Hereinafter, a rotary machine control device according to Embodiment 16that is configured by changing a portion of the rotary machine controldevice according to Embodiment 13 will be described. Here, in the rotarymachine control device according to Embodiment 16, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 13 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 13.

FIG. 30 is a block diagram of command phase determiner 124 n included inthe rotary machine control device according to Embodiment 16.

As shown in FIG. 30 , the rotary machine control device according toEmbodiment 16 is configured by replacing command phase determiner 124 kof the rotary machine control device according to Embodiment 13 withcommand phase determiner 124 n.

Command phase determiner 124 n includes resonator 189, integrator 200,adder 202, subtracter 217, high-pass filter 218, gain multiplier 220,and subtracter 222.

High-pass filter 218 outputs torque T_(H) from estimated torque T_(e).

Gain multiplier 220 multiplies torque T_(H) by gain K₁.

Subtracter 222 subtracts K₁T_(H) from command speed ω_(ref)*

Integrator 200 integrates the value determined by subtracter 222.

Subtracter 217 subtracts T_(e) from -T_(ripple).

Resonator 189 determines ripple compensation phase θ_(ripple) based onripple compensation torque T_(ripple). For example, resonator 189determines ripple compensation phase θ_(ripple) through calculationperformed by replacing ΔT in Equation (26) described above with-T_(ripple)-T_(e).

Adder 202 adds ripple compensation phase θ_(ripple) to the valuedetermined by integrator 200 to determine command phase θ_(s)*.

As described above, command phase determiner 124 n may include resonator189, integrator 200, adder 202, subtracter 217, high-pass filter 218,gain multiplier 220, and subtracter 222.

Embodiment 17

Hereinafter, a rotary machine control device according to Embodiment 17that is configured by changing a portion of the rotary machine controldevice according to Embodiment 16 will be described. Here, in the rotarymachine control device according to Embodiment 17, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 16 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 16.

FIG. 31 is a block diagram of command phase determiner 124 p included inthe rotary machine control device according to Embodiment 17.

As shown in FIG. 31 , the rotary machine control device according toEmbodiment 17 is configured by replacing command phase determiner 124 nof the rotary machine control device according to Embodiment 16 withcommand phase determiner 124 p.

Command phase determiner 124 p includes resonator 189, adder 202,multiplier 204, adder 206, subtracter 217, high-pass filter 218, gainmultiplier 220, and subtracter 222.

Adder 202 adds ripple compensation phase θ_(ripple) to movement amountΔθ determined by multiplier 204.

Adder 206 adds estimated phase θ_(s) to the value determined by adder202 to determine command phase θ_(s)*.

As described above, command phase determiner 124 p may include resonator189, adder 202, multiplier 204, adder 206, subtracter 217, high-passfilter 218, gain multiplier 220, and subtracter 222.

Embodiment 18

Hereinafter, a rotary machine control device according to Embodiment 18that is configured by changing a portion of the rotary machine controldevice according to Embodiment 17 will be described. Here, in the rotarymachine control device according to Embodiment 18, structural elementsthat are the same as those of the rotary machine control deviceaccording to Embodiment 17 are given the same reference numerals, and adetailed description thereof will be omitted because they have alreadybeen described above. Accordingly, the following description will begiven focusing on a difference from the rotary machine control deviceaccording to Embodiment 17.

FIG. 32 is a block diagram of command phase determiner 124 q included inthe rotary machine control device according to Embodiment 18.

As shown in FIG. 32 , the rotary machine control device according toEmbodiment 18 is configured by replacing command phase determiner 124 pof the rotary machine control device according to Embodiment 17 withcommand phase determiner 124 q.

Command phase determiner 124 q includes resonator 189, adder 202, adder206, multiplier 208, PI compensator 214, adder 216, subtracter 217,low-pass filter 224, and subtracter 226.

Multiplier 208 multiplies command speed ω_(ref)* by T_(s) to determineω_(ref)*T_(s).

Low-pass filter 224 outputs torque T_(L) from estimated torque T_(e).

Subtracter 226 subtracts estimated torque T_(e) from torque T_(L) todetermine torque -T_(H).

PI compensator 214 determines Δω_(ref)*T_(s) from torque -T_(H).

Adder 216 adds ω_(ref)*T_(s) determined by multiplier 208 andΔω_(ref)*T_(s) determined by PI compensator 214 to determine torquephase Δθ_(s).

Adder 202 adds ripple compensation phase θ_(ripple) to torque phaseΔθ_(s) determined by adder 216.

Adder 206 adds estimated phase θ_(s) to the value determined by adder202 to determine command phase θ_(s)*.

As described above, command phase determiner 124 q may include resonator189, adder 202, adder 206, multiplier 208, PI compensator 214, adder216, subtracter 217, low-pass filter 224, and subtracter 226.

Embodiment 19

Hereinafter, rotary machine control device 100 r according to Embodiment19 that is configured by changing a portion of rotary machine controldevice 100 according to Embodiment 1 will be described. Here, in rotarymachine control device 100 r according to Embodiment 19, structuralelements that are the same as those of rotary machine control device 100are given the same reference numerals, and a detailed descriptionthereof will be omitted because they have already been described above.Accordingly, the following description will be given focusing on adifference from rotary machine control device 100.

As shown in FIG. 33 , rotary machine control device 100 r is configuredby replacing position sensorless controller 106 of rotary machinecontrol device 100 according to Embodiment 1 with position sensorlesscontroller 106 r.

As shown in FIG. 34 , position sensorless controller 106 r is configuredby replacing magnetization characteristics determiner 120 and ripplecompensation determiner 122 of position sensorless controller 106 withripple compensation determiner 122 r.

As shown in FIG. 35 , ripple compensation determiner 122 r determinesmagnet phase θ_(dm) that is the phase of magnet flux ψ_(am) based onestimated magnetic flux ψ_(s) and detection current i, and alsodetermines ripple compensation phase θ_(ripple), by using resonator 189,based on ripple compensation torque T_(ripple) that includes thepulsation of qm-axis current i_(qm) of detection current i by using adm-qm coordinate system with the dm axis representing magnet phaseθ_(dm) and the qm axis representing a phase shifted by 90 degrees frommagnet phase θ_(dm). Specifically, ripple compensation determiner 122 rdetermines magnet phase θ_(dm) that is the phase of magnet flux ψ_(am)based on estimated magnetic flux ψ_(s) and detection current i. Then,ripple compensation determiner 122 r determines qm-axis current i_(qm)of detection current i by using a dm-qm coordinate system with the dmaxis representing magnet phase θ_(dm) and the qm axis representing aphase shifted by 90 degrees from magnet phase θ_(dm). Then, ripplecompensation determiner 122 r determines ripple compensation torqueT_(ripple) that includes the pulsation of qm-axis current i_(qm) ofdetection current i. Then, ripple compensation determiner 122 rdetermines ripple compensation phase θ_(ripple), by using resonator 189,based on ripple compensation torque T_(ripple) that includes thepulsation of qm-axis current i_(qm) of detection current i. Ripplecompensation determiner 122 r includes magnet flux determiner 144,magnet phase determiner 146, a, β/qm converter 148, torque componentdeterminer 228, and resonator 189.

Torque component determiner 228 determines ripple compensation torqueT_(ripple) that includes the pulsation of qm-axis current i_(qm).Specifically, torque component determiner 228 determines ripplecompensation torque T_(ripple) that includes the pulsation of qm-axiscurrent i_(qm) by using Equation (27).

T_(ripple) = Ψ_(am)i_(qm)

Resonator 189 determines ripple compensation phase θ_(ripple) based onripple compensation torque T_(ripple) that includes the pulsation ofqm-axis current i_(qm). Specifically, resonator 189 determines ripplecompensation phase θ_(ripple) based on ripple compensation torqueT_(ripple) that includes the pulsation of qm-axis current i_(qm) byusing Equation (28). Here, b₀ represents a coefficient, and is a presetconstant. Also, ξ represents a damping coefficient, ω_(n) represents anatural frequency, and s represents a transfer function.

$\text{θ}_{\text{ripple}} = \frac{b_{0}}{s^{2} + 2\text{ξ}\text{ω}_{\text{n}}s + \omega_{n}{}^{2}}\text{T}_{\text{ripple}}$

In the manner as described above, resonator 189 determines ripplecompensation phase θ_(ripple) based on ripple compensation torqueT_(ripple) that includes the pulsation of qm-axis current i_(qm). Forexample, resonator 189 is a resonator device.

For example, position sensorless controller 106 r may include commandamplitude generator 118 a instead of command amplitude generator 118.Also, for example, position sensorless controller 106 r may include,instead of command phase determiner 124, command phase determiner 124 c,command phase determiner 124 d, command phase determiner 124 e, commandphase determiner 124 f, command phase determiner 124 g, or command phasedeterminer 124 h, and command speed ω_(ref)* may be input to positionsensorless controller 106 r.

FIG. 36 is a graph showing a torque waveform in a rotary machine.Specifically, FIG. 36 is a graph showing the torque of a rotary machineobtained by simulating control on the rotary machine by using a rotarymachine control device. In this example, the rotary machine wascontrolled by driving the rotary machine control device in accordancewith a method according to a comparative example, and thereafter, therotary machine was controlled by driving the rotary machine controldevice in accordance with a method according to an embodiment. As therotary machine, a motor whose magnet flux has a harmonic component wasused, and the rotary machine was controlled to cause the rotation speedto be 3600 r/min and 50% of the rated load. The method of thecomparative example is the same method as the method disclosed in NPL 1,and the method according to the embodiment is the same method as themethod performed by rotary machine control device 100 r.

As shown in FIG. 36 , when the rotary machine control device was drivenby using the method of the embodiment, it was possible to reduce thetorque ripple rate by about 22% as compared with that of when the rotarymachine control device was driven by using the method of the comparativeexample. The torque ripple rate is determined by (maximum torque -minimum torque) / average torque.

Also, when the rotary machine control device was driven by using thesame method as the method performed by rotary machine control device 100of Embodiment 1, and when the rotary machine control device was drivenby using the same method as the method performed by rotary machinecontrol device 100 j of Embodiment 10 as well, it was possible to reducethe torque ripple rate as compared with that of when the rotary machinecontrol device was driven by using the method of the comparativeexample.

Advantageous Effects, Etc

Rotary machine control device 100 r according to Embodiment 19 includes:magnetic flux estimator 112 that estimates a rotary machine magneticflux that is a flux of synchronous rotary machine 400; command amplitudegenerator 118 that generates command amplitude | ψ_(s)* | that is anamplitude of command magnetic fluxes ψ_(α)* and ψ_(β)* by executingfeedback control that uses a first inner product or a second innerproduct, the first inner product being a product of estimated magneticflux ψ_(s) that is the estimated rotary machine magnetic flux anddetection current i of synchronous rotary machine 400, the second innerproduct being a product of detection current i and estimated magnet fluxψ_(am) of a permanent magnet included in synchronous rotary machine 400;ripple compensation determiner 122 r that determines magnet phase θ_(dm)that is a phase of magnet flux ψ_(am) based on estimated magnetic fluxψ_(s) and detection current i, and also determines ripple compensationphase θ_(ripple) by using resonator 189 based on ripple compensationtorque T_(ripple) that includes the pulsation of qm-axis current i_(qm)of detection current I by using a dm-qm coordinate system with the dmaxis representing magnet phase θ_(dm) and the qm axis representing aphase shifted by 90 degrees from magnet phase θ_(dm); command phasedeterminer 124 that determines command phase θ_(s)* based on ripplecompensation phase θ_(ripple) and a torque command or a rotation speedcommand; and command magnetic flux generator 126 that generates commandmagnetic fluxes ψ_(α)* and ψ_(β)* based on command amplitude | ψ_(s)* |and command phase θ_(s)*.

With this configuration, magnet phase θ_(dm) can be determined; qm-axismagnetic flux ψ_(qm) of estimated magnetic flux ψ_(s) and qm-axiscurrent i_(qm) of detection current i can be determined by using a dm-qmcoordinate system with the dm axis representing magnet phase θ_(dm) andthe qm axis representing a phase shifted by 90 degrees from magnet phaseθ_(dm); ripple compensation phase θ_(ripple) can be determined based onripple compensation torque T_(ripple) that includes the pulsation ofqm-axis current i_(qm) of detection current i; and command phase θ_(s)*can be determined based on ripple compensation phase θ_(ripple) and atorque command or a rotation speed command. Accordingly, in the positionsensorless magnetic flux control, the torque ripple can be effectivelyreduced.

Other Embodiments, Etc

The rotary machine control device according to one or more aspects ofthe present disclosure has been described above based on Embodiments 1to 19. However, the present disclosure is not limited to theseembodiments. Other embodiments obtained by making various modificationsthat can be conceived by a person having ordinary skill in the art tothe above embodiments as well as embodiments constructed by combiningstructural elements of different embodiments without departing from thescope of the present disclosure are also included within the scope ofthe one or more aspects of the present disclosure.

In Embodiment 1 described above, an example has been described in whichrotary machine control device 100 includes torque estimator 116 andphase determiner 114. However, the configuration is not limited thereto.For example, the rotary machine control device does not necessarily needto include torque estimator 116 and phase determiner 114. In this case,for example, the rotary machine control device may acquire estimatedtorque T_(e) and estimated phase θ_(s) from the outside. Also, forexample, as shown in FIG. 16 , command phase θ_(s)* may be determinedwithout using estimated torque T_(e) and estimated phase θ_(s).

Also, in Embodiment 1, an example has been described in which rotarymachine control device 100 includes torque estimator 116, but theconfiguration is not limited thereto. For example, the rotary machinecontrol device does not necessarily need to include torque estimator116. In this case, for example, the rotary machine control device mayacquire estimated torque T_(e) from outside. Also, for example, as shownin FIG. 17 , command phase θ_(s)* may be determined without usingestimated torque T_(e). The same applies to Embodiments 2 to 9.

In the embodiments described above, the structural elements may beconfigured by using dedicated hardware, or may be implemented byexecuting a software program suitable for the structural elements. Thestructural elements may be implemented by a program executor such as aCPU (Central Processing Unit) or a processor reading and executing asoftware program recorded in a recording medium such as a hard disk or asemiconductor memory.

The present disclosure also encompasses the following cases.

Each of the devices described above is, specifically, a computer systemthat includes a microprocessor, a ROM, a RAM, a hard disk unit, adisplay unit, a keyboard, a mouse, and the like. A computer program isstored in the RAM or the hard disk unit. The functions of the device areimplemented as a result of the microprocessor operating in accordancewith the computer program. Here, the computer program is composed of acombination of a plurality of instruction codes that indicateinstructions for the computer to achieve predetermined functions.

Some or all of the structural elements that constitute each of thedevices described above may be composed of a single system LSI (LargeScale Integration). The system LSI is a super multifunctional LSImanufactured by integrating a plurality of structural elements on asingle chip, and is specifically a computer system that includes amicroprocessor, a ROM, a RAM, and the like. A computer program is storedin the RAM. The functions of the system LSI are implemented as a resultof the microprocessor operating in accordance with the computer program.

Some or all of the structural elements that constitute each of thedevices described above may be composed of an IC card or a single modulethat can be attached and detached to and from the device. The IC card orthe module is a computer system that includes a microprocessor, a ROM, aRAM, and the like. The IC card or the module may include theabove-described super multifunctional LSI. The functions of the IC cardor the module are implemented as a result of the microprocessoroperating in accordance with a computer program. The IC card or themodule may have tamper resistance.

The present disclosure may be any of the methods described above.Alternatively, the present disclosure may be a computer program thatimplements any of the methods by using a computer, or may be a digitalsignal generated by the computer program.

Also, the present disclosure may be implemented by recording thecomputer program or the digital signal in a computer readable recordingmedium such as, for example, a flexible disk, a hard disk, a CD-ROM, aMO, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray (registered trademark)Disc), or a semiconductor memory. Also, the present disclosure may bethe digital signal recorded in the recording medium.

Also, the present disclosure may be implemented by transmitting thecomputer program or the digital signal via a telecommunication line, awireless or wired communication line, a network as typified by theInternet, data broadcasting, or the like.

Also, the present disclosure may be a computer system that includes amicroprocessor and a memory. The memory stores the computer programdescribed above, and the microprocessor may operate in accordance withthe computer program.

Also, the present disclosure may be implemented by another independentcomputer system by recording the program or the digital signal on therecording medium and transferring the program or the digital signal, orby transferring the program or the digital signal via the networkdescribed above or the like.

The embodiments and other embodiments described above may be combined.

While various embodiments have been described herein above, it is to beappreciated that various changes in form and detail may be made withoutdeparting from the spirit and scope of the present disclosure aspresently or hereafter claimed.

Further Information About Technical Background to this Application

The disclosures of the following patent applications includingspecification, drawings, and claims are incorporated herein by referencein their entirety: Japanese Patent Application No. 2021-203816 filed onDec. 16, 2021, Japanese Patent Application No. 2021-203968 filed on Dec.16, 2021, and Japanese Patent Application No. 2022-085836 filed on May26, 2022.

Industrial Applicability

The present invention is widely applicable to a rotary machine controldevice that controls a rotary machine, and the like.

1. A rotary machine control device comprising: a magnetic flux estimatorthat estimates a rotary machine magnetic flux that is a magnetic flux ofa synchronous rotary machine; a command amplitude generator thatgenerates a command amplitude that is an amplitude of a command magneticflux by executing feedback control that uses a first inner product or asecond inner product, the first inner product being a product of anestimated magnetic flux that is the rotary machine magnetic fluxestimated and a detection current of the synchronous rotary machine, thesecond inner product being a product of the detection current and anestimated magnet flux of a permanent magnet included in the synchronousrotary machine; a magnetization characteristics determiner thatdetermines a magnet phase that is a phase of the magnet flux based onthe estimated magnetic flux and the detection current, and alsodetermines a qm-axis magnetic flux of the estimated magnetic flux, aqm-axis current of the detection current, and a harmonic component ofthe magnet phase by using a dm-qm coordinate system with a dm axisrepresenting the magnet phase and a qm axis representing a phase shiftedby 90 degrees from the magnet phase; a ripple compensation determinerthat determines a ripple compensation phase by using a ripplecompensation torque obtained based on the qm-axis current and theharmonic component; a command phase determiner that determines a commandmagnetic flux vector phase based on (i) the ripple compensation phaseand (ii) a torque command or a rotation speed command; and a commandmagnetic flux generator that generates the command magnetic flux basedon the command amplitude and the command magnetic flux vector phase. 2.A rotary machine control device comprising: a magnetic flux estimatorthat estimates a rotary machine magnetic flux that is a magnetic flux ofa synchronous rotary machine; a command amplitude generator thatgenerates a command amplitude that is an amplitude of a command magneticflux by executing feedback control that uses a first inner product or asecond inner product, the first inner product being a product of anestimated magnetic flux that is the rotary machine magnetic fluxestimated and a detection current of the synchronous rotary machine, thesecond inner product being a product of the detection current and anestimated magnet flux of a permanent magnet included in the synchronousrotary machine; a magnetization characteristics determiner thatdetermines a magnet phase that is a phase of the magnet flux based onthe estimated magnetic flux and the detection current, and alsodetermines a qm-axis magnetic flux of the estimated magnetic flux, aqm-axis current of the detection current, and a harmonic component ofthe magnet phase by using a dm-qm coordinate system with a dm axisrepresenting the magnet phase and a qm axis representing a phase shiftedby 90 degrees from the magnet phase; a ripple compensation determinerthat determines a ripple compensation torque based on the qm-axiscurrent and the harmonic component; a command phase determiner thatdetermines a command magnetic flux vector phase based on (i) a ripplecompensation phase and (ii) a torque command or a rotation speedcommand, the ripple compensation phase being determined by a resonatorbased on the ripple compensation torque; and a command magnetic fluxgenerator that generates the command magnetic flux based on the commandamplitude and the command magnetic flux vector phase.
 3. A rotarymachine control device comprising: a magnetic flux estimator thatestimates a rotary machine magnetic flux that is a magnetic flux of asynchronous rotary machine; a command amplitude generator that generatesa command amplitude that is an amplitude of a command magnetic flux byexecuting feedback control that uses a first inner product or a secondinner product, the first inner product being a product of an estimatedmagnetic flux that is the rotary machine magnetic flux estimated and adetection current of the synchronous rotary machine, the second innerproduct being a product of the detection current and an estimated magnetflux of a permanent magnet included in the synchronous rotary machine; aripple compensation determiner that determines a magnet phase that is aphase of the magnet flux based on the estimated magnetic flux and thedetection current, and also determines a ripple compensation phase byusing a resonator based on a ripple compensation torque that includes apulsation of a qm-axis current of the detection current by using a dm-qmcoordinate system with a dm axis representing the magnet phase and a qmaxis representing a phase shifted by 90 degrees from the magnet phase; acommand phase determiner that determines a command magnetic flux vectorphase based on (i) the ripple compensation phase and (ii) a torquecommand or a rotation speed command; and a command magnetic fluxgenerator that generates the command magnetic flux based on the commandamplitude and the command magnetic flux vector phase.
 4. The rotarymachine control device according to claim 1, further comprising: a phasedeterminer that determines an estimated phase based on the estimatedmagnetic flux, the estimated phase being a phase of the estimatedmagnetic flux; and a torque estimator that computes an estimated torquebased on the estimated magnetic flux and the detection current, whereinthe command phase determiner determines the command magnetic flux vectorphase by adding a torque phase for converging the estimated torque on acommand torque, the ripple compensation phase, and the estimated phase.5. The rotary machine control device according to claim 1, wherein thecommand phase determiner: (i) determines a movement amount of anestimated phase of the estimated magnetic flux for each control cycle bywhich the estimated phase needs to move by using the rotation speedcommand input to the synchronous rotary machine; and (ii) determines thecommand magnetic flux vector phase by using the movement amountdetermined and the ripple compensation phase.
 6. The rotary machinecontrol device according to claim 1, further comprising: a phasedeterminer that determines an estimated phase based on the estimatedmagnetic flux, the estimated phase being a phase of the estimatedmagnetic flux, wherein the command phase determiner: (i) determines amovement amount of the estimated phase for each control cycle by whichthe estimated phase needs to move by using the rotation speed commandinput to the synchronous rotary machine; and (ii) determines the commandmagnetic flux vector phase by using the movement amount determined, theripple compensation phase, and the estimated phase.
 7. The rotarymachine control device according to claim 5, further comprising: atorque estimator that computes an estimated torque based on theestimated magnetic flux and the detection current, wherein the commandphase determiner determines the command magnetic flux vector phase byfurther using the estimated torque.
 8. The rotary machine control deviceaccording to claim 6, further comprising: a torque estimator thatcomputes an estimated torque based on the estimated magnetic flux andthe detection current, wherein the command phase determiner determinesthe command magnetic flux vector phase by further using the estimatedtorque.
 9. The rotary machine control device according to claim 1,wherein the command amplitude generator sets a target value of a resultof computation of the first inner product or the second inner product tozero.
 10. The rotary machine control device according to claim 2,further comprising: a phase determiner that determines an estimatedphase based on the estimated magnetic flux, the estimated phase being aphase of the estimated magnetic flux; and a torque estimator thatcomputes an estimated torque based on the estimated magnetic flux andthe detection current, wherein the command phase determiner determinesthe command magnetic flux vector phase by adding a torque phase forconverging the estimated torque on a command torque, the ripplecompensation phase, and the estimated phase.
 11. The rotary machinecontrol device according to claim 2, wherein the command phasedeterminer: (i) determines a movement amount of an estimated phase ofthe estimated magnetic flux for each control cycle by which theestimated phase needs to move by using the rotation speed command inputto the synchronous rotary machine; and (ii) determines the commandmagnetic flux vector phase by using the movement amount determined andthe ripple compensation phase.
 12. The rotary machine control deviceaccording to claim 2, further comprising: a phase determiner thatdetermines an estimated phase based on the estimated magnetic flux, theestimated phase being a phase of the estimated magnetic flux, whereinthe command phase determiner: (i) determines a movement amount of theestimated phase for each control cycle by which the estimated phaseneeds to move by using the rotation speed command input to thesynchronous rotary machine; and (ii) determines the command magneticflux vector phase by using the movement amount determined, the ripplecompensation phase, and the estimated phase.
 13. The rotary machinecontrol device according to claim 2, wherein the command amplitudegenerator sets a target value of a result of computation of the firstinner product or the second inner product to zero.
 14. The rotarymachine control device according to claim 3, further comprising: a phasedeterminer that determines an estimated phase based on the estimatedmagnetic flux, the estimated phase being a phase of the estimatedmagnetic flux; and a torque estimator that computes an estimated torquebased on the estimated magnetic flux and the detection current, whereinthe command phase determiner determines the command magnetic flux vectorphase by adding a torque phase for converging the estimated torque on acommand torque, the ripple compensation phase, and the estimated phase.15. The rotary machine control device according to claim 3, wherein thecommand phase determiner: (i) determines a movement amount of anestimated phase of the estimated magnetic flux for each control cycle bywhich the estimated phase needs to move by using the rotation speedcommand input to the synchronous rotary machine; and (ii) determines thecommand magnetic flux vector phase by using the movement amountdetermined and the ripple compensation phase.
 16. The rotary machinecontrol device according to claim 3, further comprising: a phasedeterminer that determines an estimated phase based on the estimatedmagnetic flux, the estimated phase being a phase of the estimatedmagnetic flux, wherein the command phase determiner: (i) determines amovement amount of the estimated phase for each control cycle by whichthe estimated phase needs to move by using the rotation speed commandinput to the synchronous rotary machine; and (ii) determines the commandmagnetic flux vector phase by using the movement amount determined, theripple compensation phase, and the estimated phase.
 17. The rotarymachine control device according to claim 3, wherein the commandamplitude generator sets a target value of a result of computation ofthe first inner product or the second inner product to zero.